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Integrated Step Motors, QuickStep, Including Step Motor

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2. 4 4 216 220 23 224 Technical Data 25622 0102620220 0200 82010928 2350109082122 28e MIS23x Technical Data MIS34x Technical Data SMC75 Technical Data Torque Curves Physical Dimensions Trouble shooting guide
3. 52 226 Ly 0 000 2520 9 230 25 233 Connection to other Equipment soi oas Oeo eo Soa E onnecting SMI30 SMC35 to MIS SMC75 onnecting MISxx SMC75 to SMD73 onnecting MISxx SMC75 to SMD41 onnecting MISxx SMC75 to MACOO Bx onnection to PLC PC Boards vere 36 2 OT 238 20082 39 240 Accessories 000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
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5. 1 J9AQ J0J49 1 SNA J04J9 3IUJI uOHISOd J0J49 J9AlJp 3ndingo 219 10449 J9u10U UUM 49u19801 yas lt 0 1Ig 510219 S 1q 40114 M Y 6 EDEN vonduseg wun amea 271 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 89L0 90rc LL uonisod e uonisod 15 y SI SIU Jopooue euJ91ul y sej uonisod 241 50915 0096070 SC eA pauoddns yon p uueld OTT act HeApsuoddnsioN pouued __ amp T ME HeApeuoddnsjoN pouued 0 act dnuamod uo egs p nous YIIEVS 0197 1293 YIIEVS 0192 991 129 2S NV WqcE AAC Alje8au y Aj20 9A 01 1 YDIe S 00 000 5 0197 O19Z SULINP esn 03 941 0 05 00 000 MN HACE uonisod 5141 2 5 0197 195JO SI 1108 O19Z 941 54915 T ajqissod 351 e 10 93H JAQON 995 si 21295 OJ9Z J93Je pasn si Jey y osje SI 5141 Jaye 7326035 5143 01 eSueup JOJOW 941 c c T o WazE uo
6. XJe LIEW 15 1 MIS23x amp SMC795 Registers detailed JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 264 85L0 6Src LL pa SUOISJ9A 9JeMUJJIJ 9Jn1nj Ul UOIE20 J9u10oUe panow GGz pzc 51915 891 osne2aq 519151891 XXX qNZ4V 9942 elA 1291 aq 5 9594 8 TOI andui 104 suoneansijuoo JU p ou pasn AjjUaIINI GGZ usnoJ4u1 pcc Ji 80 5 Ma4 uSnoJui pesnun UIdONV 104 WQCE SW T 19 9 Ag uone4edo asjnd saddajs jeusajul 991 104 sonsouselq UqZE asjnd saddajs jeusajul 9U1 104 sonsouselq UqZE Sepa aoe esc SIs Lew 15 1 MIS23x amp SMC795 Registers detailed 531911 sdi NOIE 265 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 2 MISS4 43 SMC85 Registers detailed OSC 5129195 0006 aul e duuex3 Aue aq ue 514 JY 14 A1120 9A e Aji adg A3M20 9A 5143 1e ue1suoo UNL JOJOW JY A1I20 89A UI USUA 1120 9A XEN 120 9A 94 pJOM 494 TIOS d 19 79 40 pepue1ul Aue
7. E DIRAIS bet ni mom em me fue adap LLL ret te Ue 2 rere eee Press the Transfer amp Start button xe Now the program will be transfered dte and stored permanently in the module a The program will be executed immidiately TTO984GB Continued JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 4 How to build a program MacTalk Noname File View Motor MACOO RxP Setup Updates Help Now the program is running G 3 ab D continuously The actual program b vt Open Save Saveinflash Reset position Clear errors Reset motor Filter setup STOP Motor line which is executed is shown by the small red arrow Main Registers Advanced Filter parameters Tests Scope MACOO RxP Programmable Module Checksum 3025 Status Paused Transfer Start Start Single Step 1 2 Move Rel dist 10000 Counts acc 1500 RPM s vel 2000 RPM By choosing the Pause button the 3 Wait 500 ms program is paused After it is paused it is possible to single step through each program line which can be a useful feature to debug the program 6 since the action in each line can be 7 closely observed 12 QE ES ET Noname Hes 7 When the program is finished it can Ele Sew Motor MACOO RxP Setup Updates be save
8. NO No feedback H2 Magnetic encoder feedback 256x4 pulses rev Only SMC75 SMC85 MIS23x and MIS34x H3 Absolute multiturn encoder magnetic feedback Only SMC85 and MIS34x M1 M12 1pcs 5pin male SMD73 pulse direction driver M2 M122 pcs 5 pin male power 8 pin female RS485 SMC75 M123 pcs 5 pin male power 8 pin female RS485 IOA 1 4 5 pin female RS485 SMC75 M4 M123 pcs 5 pin male power 8 pin female RS485 IOA 1 4 8 pin female 5V serial IOA5 8 SMC75 M5 M124 pcs 5 pin male power 8 pin female RS485 IOA 1 4 5 pin female RS485 8 pin female 5V serial IOA 5 8 SMC75 M6 M124 pcs CANopen 5 pin male power 8 pin female RS485 IOA 1 4 8 pin female 5V serial IOA 5 8 5 pin male CAN SMC75 M7 M12 4 pcs DeviceNet 5 pin male power 8 pin female RS485 IOA 1 4 8 pin female 5V serial IOA 5 8 5 pin male DEVICE SMC75 M8 M12 4 pcs SSI CANopen 5 pin male power 8 pin female RS485 IOA 1 4 8 pin male IOA 5 6 5 pin male CANOpen SMC75 M9 M12 4 pcs SSI 5 male power 8 pin female RS485 IOA 1 4 8 pin male SSI IOA 5 6 5 pin female RS485 SMC75 MA M123 pcs 5 pin male power 8 pin female RS485 IOA 1 4 5 pin male CAN SMC75 MB M12 4 pcs 5 pin male power 8 pin female RS485 IOA 1 4 5 pin male CAN 5 pin female CAN SMC75 MC M12 3 pcs 3m power cable PG12 8 pin female RS485 IOA 1 4 5 pin male CAN 5 pin female CAN SMC75
9. Jopooue MOUS 5141 1 s uondo Jepo2ues 993 50915 sjndino y 2 O1 U331JM ue sjndino 61181 941 Jo 513025 JUDIUNI 94 WazE sindul yje 2e JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 268 15 2 MIS34 43 SMIC85 Registers detailed zn Sul e s y UO 1 25 au 995 291 9JnjeJaduuo apisui 9 9 GT OT Sid J0JJ49 6 49g 420 PAOMSSEd 8 19 OJ97 g 9 19 2 19 uonisod NAPOJA iW uonisoq 215 UI z uon sJ10301ny T Hg peAJesaM 0 119 503035 uny SUG 513035 asn jou 34521 00 0 2 pue aves 697 19592 pue ui AACS 892 19594 9 OU op paAJesay 997 6SZ Japooue YUM uonisod eziuoJyu ASs LSC 9jeJpneg M U S9 EAHDV 9S8C sSpueuluJo 195 19510 sasn LCC ei2adsg em HACE SLIGSALVLS 269 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 2 MISS4 43 S
10. indui 10595 104 13ndu 85L0 cSsrcLL indui paj ed paq indui pajed paq SAIWSOg 104 ySeLW 3ndu JWI DAIZESaN SEW 1 Oc T 4 151 4 Aq pajqeua o qequuni Ul UUM uun 941 9215 LCL Jaysisay sajqeug aynou 15911045 lt uonpauip AJUQ Z uonoaurp eAnisod 9215 9 qe3 uun ui A uO T uonisod Jeaul pe qesipzo JO UI 91eJado O1 JOJOW SaJn8ijuo __ sso v szs ajqe uun LIEW 59915 1 c ASVI ASVI q318VvLIl _ ned JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 258 15 1 MIS23x amp SMC795 Registers detailed 210 SvcLL 10443 sjndino po3eoipeq uonisod sjndino po1eoipoaq andu JJe eN S9ge3 OA 184 03 indui YdIUM 12 ula1s s dnyoeg use J HEY u y pue lt 49u10 pue suonisod JO 8 5 1988111 98e3 OA 1 lt dn poeg use SuiAes uMopinus jqeu pue dn uja1s
11. Physical D 25000 10 0 0 Imensions u36uoe 9910 11 SC0 0 820 90 9 02 gt seuou 90 9 0 vS VETZSIIN 9 p c 811 6651 87 2 0 96 12251 7920 0 0 2F 7 Physical d 12 5 12 5 1 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 230 Only MIS34x Imensions Physical D Physical dimensions MIS340 MIS341 and MIS342 12 5 12 5 2 V1 9 0 99 sco o t 180 O0 ZFESIIN 96 7 0 92 c 0 29 6 52 0 0 6 ple 0 96 sc o 29 6 52 0 0 6 OPESIIN 2 2000 0 78700 OZ 0 0 0 ed q eip yeys 10301 soyouy 712 1869 1 g T 5 97 21 OE 8T T1 OE S 0 0 6 V6 0 00T v0 O OTO 86 0 SZ 8 T TSE eus Jeuondo ec e 98 CVESIIN 6 98 TVESIIN p a ID 231 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 12 5 Physical Dimensions Only MIS43x 12 5 3 Physical dimensions MIS432 35 1 37 55 37 2 180 9 5 ul 5 gt 5 1 52 0 060 e N CN 247 5 9 744 lors v 6L0 S 6722 89 3 504 109 86 4 325 08 5 20 335 sze v 9960
12. 8 TO O 00 000 0 UqZE UA sur EDEN uonduosag amea 273 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 2 MISS4 43 SMC85 Registers detailed 8910 80v7 LL 20815 20815 asind 18 UMOUS V N 125 1 293114 9943 uo 793115 adojs xe Xe A 92uopijuo UI A 92uepijuo 99125 dnjas 1934 941 uo pajpuey Y N 2 payoddns jou 1nq peuueld pue T sapow ui jndjno asauj sajqeua epo AJIQss nd 60T 293518 104 sindino 51 8 518 INO 104 0 sig 5310 edoj s y so duues jo 05 pue silq 8 usu IDUIPIJUOD p s no sajdwes JO 06 40J 5319 Sn1e3s jenpiAIpu sjndui JO 1493 IJ Sjndul 104 1 edo s sjndui sojeue JO sjndui sojeue JO 92u9pijuoo pe1epdn uaaq 51915189 y Jaye 195 5198 2229 104 5 9151891 XXX ONZIAV SuipuodsaJ402 peo 1 1 pue ado Sxe N Xe A UIIAJUO 9SOUM 1ndui dojeue y 8 1 0 518 d MAU JO 79 AWTCCT TCCT AWTCCT jelnads 0 GLLCE 89LZE 8 1 O M Y M Y M Y M Y
13. yey o loons NA Description This register can be used to change both of the registers P SOLL and P IST in one op eration This can be used to correct or offset the current position without performing a movement The register value can be copied to P IST and P SOLL using FastMac com mand 23 or it can be added with sign to both of these registers using FastMac command 24 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 107 3 2 MiS23x Registers 8 2 80 Baud Rate Description The baud rate on the serial port 9600 baud 9200 baud default 38400 baud 57600 baud 115200 baud 230400 baud 460800 baud 921600 baud The firmware wil automatically update the baud rate after this value is changed over the serial interface RS485 once the motor has finished transmitting all data bytes that are queued UJ MN CO 8 2 81 Tx Delay 147 TX DELAY 16bit 1 255 Transmit Delay Description The time to wait before the response is transmitted The unit corresponds to the time of one bit at the current baud rate Many PLCs and communications processors require a minimum delay after they have sent a command to the motor before they are able to receive the response 8 2 82 Group Id 148 GROUP ID 16bit 0 255 ____ Group ld Description The group ID of the motor The motor will accept data from a group write command only if the group ID number in the command matc
14. 3 ST 8 1949 9 2 0 991 5395 0 2 2995 NM UQOT 4713 aAissed 9ZIUOJUIUAS Jopoo2ue BZIUOIYIUAS ony woddns Zor dsa 9 qeu3 vug ywoddns Zor 45 c jqeuz QINJEIPENH T eu491X3 pe qesiq 0 1ndui 12995 JOJOW 149AU dn samod dn saye Jaye ujeJSoJd 11215 1 uoq uJeJ8oJ4d 11215 1 uoq UOnpauJlp MAU jelndas M Y 11097 9 WN ast 104 8 104 YOUMS 0 8 119 105095 Se UIUMS PWI 955 EUG 105095 Jo epis y soddo 104 ydseasg 4g uo uonoeJip e8ueu T 319 2 5 104 YIeIS 0 19 0497 Sululou o43u02 01513 er edg 1491 SLID IW NEIEN sono wun umego wey _ 257 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 1 MIS23x amp SMC795 Registers detailed SA OOT JO 9uJn e asn 1 2 Sq 191518921 pajqeua 991 95 195 5319 uM indui s ndu 81 991 104 Sew 1 TZOGd 559226 15 89 ajqepajas 559206 5 89 9 qe129 as
15. Matar error Don t care AE NE EE E NO E NN A HE EE ME NO E NN NE E In position Don t care Function Waits for a specified input condition to occur The next line in the program will not be executed until the input condition has been met If Input type is set to Multiple multiple inputs can be tested for being either high or low The Operand setting determines whether one or all of the inputs must meet their test criterion If set to And all inputs must match their test settings If set to Or only one input need match its test setting Inputs that are set to Don t care are not tested The inputs are tested with 30 microsecond intervals 164 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 7 Graphic programming command reference 9 7 16 Set a register in the IVIIS motor Icon ne Dialogue Reg Na 3 Requested position Value WS Function Sets a register in the motor to a specified value The register is selected from a list of known user accessible registers The value can either be entered as native motor units or it can be entered as generic engineering units The dialogue above provides an example register no 3 P SOLL or Requested position depending on your preference can either be set to an integer number of encoder counts or it can be set to a non integer number of revolutions 9 7 17 Jump according to
16. M12 Pin9 __ Jr M12 Pin10 12 11 12 12 M12 Pin13 M12 Pin14 ____ M12 Pin15 jAOMRS485 _____ M12 Pin16 Eo IND __ e T e d M12 Pin17 ______ 5 d d M12 Connector WI11008 not available WI1008 WI1008 WI1008 WI1008 WI1028 W1I1028 _ not available solder terminals M12F5SS1 M12M5SS1 M12M8SS1 M12M5SS1 M12M5SS1 M12F5SS1 M12F5SS1 M12 Cables 5m WI1000 M12 WI1009 WI1006 M12 WI1000 M12 WI1006 M12 WI1006 M12 WI1026 M12 WI1026 WI1046 M12 F5TO5N M12M17S05N M5SOR5R M8TO5N M5SOR5R M5SOR5R F5SOR M12 F5SOR M4S05R Connector layout 5 pin Female 4 pin Female 1 2 2 1 PWR CN1 e 4 3 3 4 8 pin Female 5 pin Male 2 1 C 3 4 8 pin Male 2 1 8 3 7 4 6 5 17 pin Female 2 11 10 16 9 17 TT2323 01GB 34 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 ee CN3 RS485 IN OUT 65485 I O PWR CN1 i CN4 Power input To M RS485 I O Backup optional TT2332 01GB cdr 2 11 2 MIS34xxxx Q5xxxx connector description The MIS34x offers robust M12 connectors which makes it ideal for automation applica tions The MI2 connectors offer solid mechanical protection and are easy operate Following scheme gives the relevant information about each connector and the pins wire colours and a short description of the signals available Th
17. 6 1 1 Passive Mode After power up the controller will start up in passive mode This means that it is possible to communicate and read write to from registers but no current is supplied to the mo tor It should thus be possible to turn the motor shaft as no voltage is connected to the motor If there is encoder feed back the encoder counter will always register the cor rect position Startup made fe Passive VWelocity Position Bear Iw Change actual made Profile data velocity 250 APH Start velocity 100 Acceleration 1250 x 25 Driver parameters Running Current 3 00 SAMS Standby Current 0 75 A RAMS Standby time FOO ms 68 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 6 2 Velocity Mode 6 2 1 Velocity Mode In this mode the QuickStep motor controls the motor velocity via the Max Velocity set ting This mode is typically used for simple tasks or for applications in which an overall unit such as a PC board or PLC controls velocity and positioning Startup made ru E Iv Change actual made Position Gear Profile data velocity 250 APM T Start velocity EE APM T Acceleration 1250 RPMS T Driver parameters Running Current 3 00 AMS Standby Current 0 75 AMS Standby time FOO ms JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x
18. e3 WeleitvReg5 zl ED z E zl Function Performs a calculation using register values constants and the four basic arithmetic operations and The result is stored in a register Arithmetic operations take place in the order that they are specified Operands arguments can be either integer constants or registers The caption of the dialogue box shows the resulting expression in traditional infix format It is continuously updated as you type in the expression Note that if you write a value to a register using this command that value is always measured in native motor units Conversion from generic engineering units is only supported for the commands Set a register in the MAC motor Jump according to a register in the MAC motor and Wait for a register value before continuing 170 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 7 Graphic programming command reference 9 7 26 Calculator options Dialogue Velocity Reg 5 Velocity Reg 5 1 Register listing and naming f Numbered lisk with lang MacTalk names t Simple list with short Firmware names Function The options tab contains various settings that affect the operation of the Calculator command Calculation precision is currently preset to 32 bit precision and cannot be changed This is not an error and should not be reported Register listing and naming provides an
19. 5 y 0 1 si XX 002 VIN 9d 1 519 z100 wun imeeg __ sseny JJe Lew JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 282 15 2 MIS34 43 SMIC85 Registers detailed 1199 T xepuiqns 4409 129140 SESS9 0 yndujjeys EE 31q9T sjndin T xepuiqns 3409 128fqo S SS9 0 M Y 1 8 8 sae Du UOHISC 0 Xepuiqns 7909 129 90 c7 Mqz 1 UOHISC 0 Xepuiqns v 09 12efqo 198Jt ej dsiquor 0 Xepuiqns 1909 329 90 19d040 P0 uo1 e1 d 0 Xepuiqns 0909 P fqO 0 Xepuiqns 129 40 S SS9 0 WCE pJOMSniEe o sesso itt promionin 6801 payoddns LON 5 zOt dSa Osje sny pue uadony ZOv dSG 20 pesn A uo pue si uorjdo used Que y A uo SUIMO 283 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 2 MISS4 43 SMC85 Registers detailed Seu JOJOW Jaye 092 511035 puooesi Iu Jad 3unoo QUO JO 3184 e 3e
20. 5 94 8cI EEST O juaJuno Aqpue ys 8 8 2 qpuejs spuoo2ssi IU JO JAQUINN 00S GESS9 T NV P suluuns jua4Jn Suiuuny 51 4030UJ y asn 0 JUIN ITS 0 M Y seSueuo 10 50015 1030W NV quasing qpue1s WCE HACE HACE 9y 4511 I SI SIU J ASN OF 941 S NdY 0001 2 000 005 HAZE p n S Y SOd YAIGOINI 28739 I4V35 1 1 A 151 A paAJasay 151 d 1N388f2 A8QNVIS AINIL AGGNVLS INIYYND 105 V 267 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 2 MIS34 43 SMIC85 Registers detailed 8910 ZOvZ LL 1Xo9U asn J0328J 104 UO 05 925 5 payoddns 1241 310 9S8C q80INS 4910 ui pe1ueuuo duui si Jasqns e Ajuo 3J9UM spueuJuJoo 2e A1se4 21 0 JU SI 871 0 1010 y 03 5 0 28e A15eJ M W UQZE al Pe qesip s 40449 y 0 XVINHH3ANT3 JI 33 1 SI JOJJa Ue HH3AN 14 Ul 94 52915 M Y XVI o o 151 d uonisod pa1e no e ay
21. 543 Registers a 1177 112 SE h e Rw Iul HOME BITS 32bit M Pee Zero A LN start program after power up Invert motor direc tion SETUP BITS 32bit Special External Encoder Enable DSP 402 Support Auto encoder synchronize TURNTABLE Dedicated Inputs NL MASK 32bit Mask Negative Limit In put Dedicated Inputs 132 HOME_MASK 32bit R W IO Mask Dedicated inputs Home Input 133 __ p INPUT FILTER digital input ees 32bit Input filter time CNT Dedicated Outputs 139 ef PNEW 325 RW 0 Counts ae Fus onoue 10 sm mw ons omeb Fas cmo wm om 150 MY ADDR 32bit RW 0 254 Motor Address JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 8 3 MISS4x amp MIS4Sx Registers SERIAL i CHECKSUM 32bit R X 0 65535 HARDWARE e 16 on VOLTAGE 32bit 0 100 Volt Motor BOOTLOADER Major 16 T on 161 m e pem E OPTION BITS 32bit R 0 65535 ERI Tooltip on motor tz FBUS NODE ID 32bit mE 0 255 5 Fieldbus Node ID Fieldbus Baud ENCODER 15 515 LIT Encoder The following par
22. PP supply current No load CV CV supply current Unconnected I O V for CAN V supply current for CAN User outputs O1 O8 Output source current pr channel 4 5 5 5 5 V CV 35V 8 sourcing 4 sourcing sourcing 75 100 350 Output sink current 0 mA I00mA CV 2 4 CV 2 2 V Input impedance 10 Output voltage User inputs 11 18 Voltage applied to any input Analogue input nominal Logic 0 wp RS232 5V pou Tx output low level 0 45 4 55 4 V 0 5 0 9 V 0 2 6 V 0 7 mA 0 5 22 V 0 5 0 V 0 0 9 V Logic 9 22 V V Tx output high level Tx output source current Tx output sink current Rx input low level RS422 Input VB1 Input leakage current Output VAI 50 ohm MEE NAMEN l 5 0 V 60 mA Input V4 Vp 0 2 2 V Output VA 50 ohm 5 2 5 5 0 V Dominant 0 9 5 1 5 3 0 CAN ISO 11898 24V Dominant 2 2 Voltage at any input Input VcAN VcAN 1 Input VcAN VcAN 1 Output VcAN 1 Output VcAN 1 Recessive 50 228 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 12 4 Torque Curves 12 4 1 MIS 3x and MIS34x Torque curves Below the torque performance for both motor families is Shown As it can
23. es s per ws a JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 113 8 3 MIS34x amp MIS4Sx Registers A a EMERG 32bit 165535 165535 10000 9 54 RPM s Error Acceleration IN POSITION IN POSITION ERR BITS 32bit mp 0 Spa __ Emos STARTMODE 32bit o Startup Mode Zero Search 31 _ 231 V HOME 32bit 1023 1023 Zero Search PEE eM E a A EM HOMEMODE 32bit De 0 13 14 S p pese Zero Search Mode sr s AnalogFitered sabe R 01029 __ 4M mv wa sos Agi os 4MEmV NA euso sm R owes __ ____ 109mv Bsvoap Ie AFZUP_WriteBits 32bit Special pom handled on the Filter Setup screen N A handled on the 32bit R W Special Filter Setup screen AFZUP Conf Min 32bit UM 0 1022 4 888 Confidence Min AFZUP Conf Max 32bit 1 1023 1023 4 888 mV Confidence Max AFZUP_ Max Slope 32bit 2 1023 1023 4 888 mV Max Slope 64 of new Filter on the Filter iic NR cn m __ sample setup screen e Y AFZUP Read Index FilterStatus 32bit 0 65535 feof N A shown signal Bit mask Direction signal Pulse Direction mode Settling time between retries 110 Settling Time 32bit R W 0 32676 14 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MISS4x amp
24. 3 Hardware Non programmable products JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 45 Please contact your JVL distributor for further information 46 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Using MacTalk JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 47 4 1 Using the MacTalk software Setup save open System control Error Handling Motor status The complete setup Use these buttons to save data Use these fields to define error This field shows the can be either saved permanently reset the motor etc limits for the position range etc actual motor load or reloaded from a position and speed etc file using these buttons Run status Shows what the status of Startup mode he iei ree orum the motor is The Bus voltage The basic functionality dms 77 for the motor and the tempe of the unit is i aie lt lt m rature of the driver is also shown setup in this field A m rem M Inputs ig E EA mah The status of the digital inputs Profile Data Wibod dus een IEEE are shown her and the analogue value All the main para MELEE Ny em yapin i Outputs meters for control len ms panne d The status of the outputs ing the motor behaviour fm female a are shown here and can are setup in this field uim be activated
25. 4 1 Using the MacTalk software 4 1 7 Advanced Screen If it is desired to run the motor in the opposite direction it can be done by marking Invert motor direction When this field is marked the motor runs to the AP Actual position from the encoder position when the motor goes from passive to position mode Remove the mark in this field and the motor will start the program at start up Here it is possible to select different ways of running a turntable and define number of steps It is possible to have a certain number of motors doing the same by giving them the same group id 12184GB 4 1 8 Test Screen Tem Mtoe Poe Sri Ledaes A A i 1 F b ETE Tl p feat Beet 170 Plagaten Judveanced Taris Pagana Stau In Oyo poor PPro zen Seach Eanscefssop ponios wi Inda pornon Ter searches decur The echar eni age aropa atu 17654 321 E i7 1 07565 321 L unacceptable Lane Doc Sens dog pool Side TD This screen is used for adjusting the Zero search sensor to the correct position when us ing the index pulse of an encoder The index pulse should be in the green area If not the sensor has to be adjusted 54 JVL Industri Elektro
26. 56 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Description of internal functions JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 57 5 1 Adjusting the motor current The current supplied to each of the step motor s phases can be adjusted for standby and running currents by changing the values of standby and running currents under Driver parameters in the MacTalk program The register is also accessible in general through the serial interface Driver parameters Running Current 3 00 SAMS Standby Current 0 75 ARMS Standby time 500 ms The electronics automatically switches between the two currents by detecting the pres ence of step pulses If a rising edge is detected at the step clock the Move current is selected If no rising edge is detected during the period specified by Standby time at the step clock input the current is automatically switched back to Standby current Values for the two currents are typically adjusted so that the Operating Current is signif icantly higher than the Standby Current since the motor must be supplied with more power to drive its load during acceleration and constant operation than when it is sta tionary Note that the maximum Standby Current normally will be set to 5096 or lower of the maximum current for the actual driver type The only overriding consideration that must be made in the adjustment
27. 8 3 7 Run Gurrent RUN CURRENT 32bit 0 511 5 87mA Running Current Description This register sets the running current for the motor 5 1 1 is the maximum possible cur rent corresponding to RMS The running current is active when the motor is running and after it stops until the specified standby time has elapsed See Standby Time page 87 When the RUN CURRENT is changed the new motor current will be set instantly Example RUN CURRENT 100 will set the running current to 0 59A RMS 8 3 8 Standby Time 8 STANDBY TIME 32bit 1 65535 Standby Time Description This register sets the standby time This time is the time from the last step has been performed until the current changes from running to standby When a new request for a move is received the current changes from standby to running with no delay Example STANDBY TIME 200 will result in the controller switching to the standby current after 200ms JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 119 8 3 534 amp MIS4Sx Registers 8 3 9 Standby_Current Name Size Access Range Default Unit MacTalk STANDBY _ CURRENT 32bit 0 511 LN 5 87 mA Standby Current Description This register set the standby current for the motor 51 1 is the maximum possible value corresponding to 3A RMS The standby current is active when the motor has stopped and the specified Standby time has elapsed See Standb
28. M Y UGCE UGCE UGCE Dan 13035 J93 J di ado JuO di juo di JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 274 15 2 534 43 5 85 Registers detailed 21 1 payoddns jou pauue d ue V N y Sajdwes jo Jaquinu 941 Ulo1s s V N o duues adoos ay s o41u02 uonounj ejduues edoos V N y Jo Wed uonounj jdwes do s au Jo Wed V N Sajdwes jo Jaquinn uonounj edoos o duues au Jo Wed Y N ejduues 5 19151891 JEYM 129195 jou ING MOpUIM 198Je1 9u1 SUIUUM Bulag uonisod y JO 8013591 uono23440301ny ue Jaye O3 SPUODASI ILU JO JequunwN 2 ON 1nq Sse N4IQ9s nd 80T 1915 89 so qeu3 2 pue A BuJ91U 10 Ajuo Ajjeusayxa 40 0W y ui Ajuo pasn p nous sjeusis pue es nd au JI 5 12 S9IJ19J 11 5 95 Pew m E 3215 4n8 OW8INOO S S IND 23M o l4 le v T31dlAVS 1195 95 St
29. RS485 interface Leave open if unused 5 7 1 1 1 1 5485 RS485 interface Leave open if unused A1 RS422 terminal A1 B1 RS422 I O terminal B1 CN4 Future option M12 5pin female connector JVL Cable Isolation WI1009M12 group Signalname Description M17TxxN see note Not defined Note Isolation group indicate which terminals circuits that a galvanic connected to each other In other words group 1 2 3 and 4 are all fully independantly isolated from each other Group 1 correspond to the housing of the motor which may also be connected to earth via the DC or AC input supply JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 39 2 11 5 Cables for the MIS34booxxG The following cables equipped with 12 connector can be supplied by JVL MIS34x Connectors Description JVL Order no PWR CN2 CN3 CN4 5pin 12pin 8pin 5pin Female Female Female RS485 Interface cable Connects directly from The MIS motor to a RS485 comport RS485 M12 1 5 8 Length 5m 197 inch USB to RS485 Converter To be used if no RS485 COM portis avail RS485 USB ATC 820 Cable 25 5mm with M12 male 5 pin connector loose wire ends 0 35mm 22AWG and foil screen WI1000 M12MSTOSN Length 5m 197 inch Same as above but 20m 787 inch 1000 12 5 20 Cable with M12 male 8 pin connec tor loose wire ends 0 35mm WI1000 M12M8TO5N 2
30. Reset motor Reset the motor Same as performing a power off on operation Filter Setup For specifying the filter setup of the analogue inputs STOP motor Stops the motor immediately using a controlled deceleration ramp and puts the motor into passive mode If a program is present this is stopped as well This button shall be considered a functional stop button and is available using the keyboard shortcut CTRL F8 Pressing the Stop button will immediately stop the motor by changing the currently running mode to passive using a fast controlled deceleration curve Using a quickstep motor or a module that enables the user to execute RxP programs this execution is also halted to prevent the motor from starting up if a startup mode is setup from a program Warning Do not consider this button as an appropriate Emergency stop Al ways fit an Emergency stop circuitry to your motor setup MacTalk Address Only if more than one motor is connected to the same interface The address specified in this field will determine which motor is communicated with JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 49 4 1 Using the MacTalk software 4 1 3 Saving or opening a setup file to from disc The complete motor setup can be saved to disc or opened from disc and transferred to the motor The setup files can be saved anywhere on the hard disc a floppy disc Saving and open
31. pasueud aq ue 514 5 SIU 01 4030UJ y uonisod uonisoq Ul UBUM uonisod 991 T edA1 uoJees 0197 T uonisog Z T 9AISSeq 0 JOJOW 941 9po N 5 Jo sulzesado y 5 011 05 XXG8IIAIS T 9J9uM 1010UJ 91JI2eds y 01 195 71 61 519 9 IUM J9 OJ1u02 4030UJ 915 e si d y 1293 91e Ipul 01 195 SI 109 513025 YT ig 1 9JeMUJlJ 94 JJe Lew Vlvc ZLI V8E9T JOUIN 9T JOle 00 000 00 000 TN paAJ TI 3 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 266 15 2 MISS4 43 SMC85 Registers detailed Jepoo2ue au yoeqnaas uonisod y moys siy uonisod p jjezsu s 941 JI M W EN indu 1 ay JO ay 000 NM WAZE i39A payoddns JOU SI J8e95 oJON jndinQ 4079e 8 Jo 991 sjuno 0091 Lec M Y AM20 9A 5143 941 31215 31215 IM4OJOW 991 120 31215 991 TO O 00 1 00 000 T MN Hqce 00 000 Aue pasueyd aq ue njea 54 uonisod jenpe 941 50915 A120 9A jeny uonisod jenpy I4 uc Mh HAZE
32. 11 3 1 220 a E d Terminate screen only at SMC75 TT2168GB Cabling For SMC75 controllers that supply a phase current in the range 0 to 3 A it is recom mended that 0 5mm cable minimum is used to connect the motor to the controller 0 75 mm is recommended Motor cable lengths should not exceed 10 metres because of impedance loss It is possi ble to use longer cables but motor performance will decrease Cables should be securely connected since a poor connection can cause heating and de struction of the connector Similarly tinned conductors should be avoided Important To minimise spurious noise emission from the motor cables and to fulfil CE require ments shielded cable must be used If shielded cable is not used other electronic equipment in the vicinity may be adversely affected The removable connector must never be removed while a voltage is connected as this will significantly reduce the lifetime of the connector Note also that the connector s life time is reduced by repeated connecting disconnecting since the contact resistance of the pins is increased Note that P is connected to the chassis and functions as the main ground on the Con troller See also Motor Connections Section 5 6 page 288 which describes how various models of motor should be connected to the Controller JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 11 3 11 3
33. 17pin female connector JVL Cable Isolation Signal name Description Description Ethernet Transmit channel 1 positive terminal Ethernet Receive channel 1 positive terminal Ethernet Transmit channel 1 negative terminal Ethernet Receive channel 1 negative terminal WI1009M12 group M17TxxN see note GND Ground intended to be used toghether with the 2 Blue 1 other signals in this connector Oz 10 channel 2 Can be used as input oroutput i _ channel 3 Can be used as input or output 4 Green e RsiOemmiB ________ PW O4 VO channel 4 Gan be used as input oroutput 6 Yellow _ CVO Supply output Connected internally to the CVI terminal in the PWR connector DO NOT connect gt 30V to this terminal VO channel 8 Can be used as input or output 14 1 _ 5 GND Only for motors installed with the H3 option ab EXTBACKUP solute multiturn encoder This terminal can be 16 Yellow brown 1 connected to an external supply Connect to ground if not used RS485 A RS485 interface Leave open if unused White grey Note Isolation group indicate which terminals circuits that a galvanic connected to each other In other words group 1 2 3 and 4 are all fully independantly isolated from each other Group 1 correspond to the housing of the motor which may also be connected to earth via the DC or AC input supply Violet
34. 42 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 11 7 Cables for the MISS4xxxxE xxxxx The following cables equipped with M12 connector can be supplied by JVL MIS34x Connectors Description JVL Order no PWR CN2 CN3 CN4 Spin 5pin 8pin 17pin Female Female Female RS485 Interface cable Connects directly from The MIS motor to a Length 5m 197 inch Cable 5 5 with M12 male 5 pin connector loose wire ends 0 35mm 22AWG and foil screen WI1000 M12MSTOSN Length 5m 197 inch USB to RS485 Converter To be used if no RS485 COM port is avail RS485 USB ATC 820 ble Cable 5 5 with M12 male D coded 4 pin connector loose wire ends 0 35mm 22AWG and foil WI1046 M12M4S05R screen Length 5m 197 inch Cable 5 5mm with M12 male D coded 4 pin and RJ45 WI1046 M12M4S05 connector NRJ45 Length 5m 197 inch Cable with M12 male 17 pin connector loose wire ends 0 22mm 24AWG and screen WI1009 M12M17S05N Length 5 197 ch Protection caps Optional if connector is not used to protect from dust liquids IP67 protection cap for M12 f female connector WI1000 M12FCAP1 IP67 protection cap for M12 3 male connector WI1000 M12MCAP1 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 43 44 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x
35. Bits 8 15 are not used and will always be 0 The inputs can be filtered or unfiltered See Input Filter Mask page 105 Note that all of the inputs have a digital state and an analogue value at the same time This register shows their digital state only Note that the digital inputs can be filtered by set ting bits in register 135 Input Filter Mask page 105 Bic 7 Je J5 4 hB Jj J lI J Function 108 _ 107 IO6 IO5 104 IO3 102 8 2 17 Outputs 19 OUTPUTS 16bit Rw _____ 0 ____ Special Outputs Description This register shows the status of the outputs Bit 0 7 shows whether IO 1 8 is active or inactive The active level can be set using IOSETUP See Osetup page 102 Please note that the output driver for each output also has to be enabled This is also done using IOSETUP The register can be changed in order to change the status of the outputs 8 2 18 Flwerr Description When the encoder option is installed this register shows the encoder deviation from the calculated position P IST 8 2 19 Flwerrmax 22 FLWERRMAX 32bit 231 231 1 0 Steps Follow Error Max Description The maximum allowed value in FLWERR before an error is triggered If FLWERRMAX 0 the error is disabled See register 35 Err Bits page 92 for a description of the error bit 90 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MiS23x Registers 8 2 20 Comman
36. JJe Lew qt yq 92 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 246 15 1 MIS23x amp SMC75 Registers detailed 89L0 LvvCLL A120 9A jenpy uonisod jenjoy Aqpueys 1 5 Suiuuny A1120 9A XEN AM20 9A JUDIINI 94 Aue 2 ued 54 uonisod jenye 94 qpuei1s 94 5 sulsueyd spuoossi Iuu Jo Suiuuna SI JOJOW Jy U3UM asn 0 1U3JJn zS Nd OOOT SOT JO v 2 JO 50015 9y UIYM 9q 351 I JUBWIAOW Suiuunp 5 ANJA SIU J ASN 03 991 Aue je 2 aq ue anjeA 514 UOn294Jlp 991 0 e AM20 9A 5193 1e j1ue3suoo una IM y A1I20 9A AJ20 9A 2941 zondag wun 8 S S Wd vS 6 p Lc Ge M Y 116 0 M Y 116 0 M Y ZOT ECOT M Y 1991 HACE 11991 1991 11991 1991 1991 15 151 1 A8QNV AW A8QNV 1 TIOS 7105 247 JVL Industri Elektronik A S User Manual
37. M12 Pin 8 12 48VDC 48VDC IP GND _ ____ _____ lt D D o Un 3 X A A e EN 32 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 10 2 M12 connectors M12 connectors layout and pin locations 5 pin female 5 male All connectors Front view TT2143GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 33 2 11 1 Connector overview for the MIS34x QUICKSTEP RS485 CANopen SSIEncoder Profibus Ethernet Connector RS485 MFIO Female 101 4 Female Male 8Pin Female Overview Female 5Pin 4Pin 8Pin Connector ID CN2 amp CN3 CN2 8 CN3 CN2 amp CN3 MIS34xCyyQ5zz85 8IOA Prefered type MIS34xCyyP6zz85 CAN open MIS34xCyyQ9zz85 SSI input MIS34xCyyExzz85 Ethernet MIS34xCyyFBzz85 Bluetooth MIS34xCyyFPzz85 Profibus M12 Pin1 12 80VDC RS485 AO RS485 CAN SHLD 105 Zero Set 5VDC TX0 P M12 Pin2 12 80VDC A0 85485 BO RS485 IO6 CNTDIR RXO P M12 Pin3 P GND RS485 AO RS485 CAN DGND TXO N M12 Pind P GND B1 RS422 GND BO RS485 GND _ SHIELD M12 AOUMRS485 ____ JBr paaln ____ M12 Pin JAt RS422 JJA Cok ____ M12 8 ______ 85422 fevoouty _____
38. Objects in the 05301 standard 05301 specified Communications objects The 05301 specified Communications objects are shown in the table below To obtain the default value in CanOpenExplorer press R on the keyboard and the actual value will be shown Data only Description Contains information about the Device type 1000 UNSIGNED32 X 0x40192 type See note at top of next page Mandatory This is the mapping error register Error and it is part of the emergency ob Register 1001 UNSIGNED8 X ject If any of the sub indices are high an error has occurred See also section 10 4 2 Mandatory _____ of 1 Mandatory Lo 1 p opo o o 0 0 0 0 Lo 2 ota o Temperature 5 0 ______ Communication Overrun _____ Device profile specific Reserved EE Manufactor specific Reservation of PDOs Reserved numbers of PDOs Reserved numbers of syncPDOs EE Reserved numbers of asyncPDOs 2 Example Version x x 1004 register E E Hi a VISIBLE B STRING Manufactur er device name Manufactur er hardware version VISIBLE STRING Manufactur er software version VISIBLE STRING s m JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 187 10 4 Objects in the 05301 standard Index Read En hex Data Type only Description Informs about
39. pleted the MODE REG will automatically be changed to the mode specified in START MODE 8 3 4 P SOLL 3 Psou yoy See Poston Description The desired position When in position mode the motor will move to this position This value can be changed at any time The maximum possible position difference is 231 1 If relative movement is used the P_SOLL will just wrap at 231 1 and the motor will move correctly Please note that the turntable function changes the behaviour of P_SOLL See Turntable Mode page 103 Example If P SOLL 800 and then P SOLL is set to 800 the motor moves one revolution forward If P IST 231 100 2147483548 and P SOLL is set to 231 100 2147483548 the motor will move 200 steps in the positive direction 118 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MISS4x amp MIS4Sx Registers 8 3 5 V SOLL 5 V SOLL 32bit 1023 1023 Max velocity Description The maximum velocity allowed When in velocity mode the motor will run constantly at this velocity Specify a negative velocity to invert the direction This value can be changed at any time Example V SOLL 250 will limit the velocity to 250 RPM 8 3 6 A SOLL Description The acceleration deceleration ramp to use If this value is changed during at movement it will first be active when the motor stops or changes direction Example A SOLL 105 will set the acceleration to 1000 RPM s
40. sjndino pajyesipaq jndino 10J49 SEL 13nd1nQ SEIN OI M Y Hqc ASYN uonisod ul s nd no pa3eoipaq uonisod 40J 5 nd no SEIN M Y ASYA oSueuo e 8 340J8q 15 aq 1snuu Je3igip 1 SWI 3ndu 943 spuo esi IU4 Jo Jequinu 941 5 Hqcee da3lll SN OOT JO 91epdn e asn 1 2 5319 39151891 ui 1 y SN 195 513 93 Ndu UUM xO s3ndui 81 ay 104 3ndu SEW OI uaril aan n sns JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 278 15 2 MISS4 43 SMC85 Registers detailed 8910 02030Jd elas e 2e A JOJO 24100 p sn 55 9u M Y Em Ja pexioddns jou 814A dnou5 J0o2030Jd 11 JE 2e A 942 e uenboes V N dnoJ8 152 941 SS8C 0 aA peioddns jou 2814 AMdnou5 Jo2030Jud 941 uo uJeJ89 91 914A Md noJs au 20 pi pesn ay jo pi dno48 991 SSCO M Y 196 pneq 1u93JJno y 3e 19 QUO JO 941 0 spuodsaJJ02 yun y peniusueJ si esuodsaJ Aejap 5 941 0 QUI 941 518 SI 556 M Y UQCE pneq 009 6 pneq 008097 pneq oOtO c pneq 002511 pneq 00925 pn
41. 00001 SESS9 T Wo Wc Wc Wo JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 250 15 1 MIS23x amp 5 75 Registers detailed 2 08 uaaq seu aJnjeJeduJo 9 319 G Hg 1 9AI12e uaaq seu JWI 319 Udaq seu 7 119 9AD9 9AI 2e UIJ 9AHISOd 0 19 SSUIUIE Suq 2 2905 M Y HqQ9T 5118 NHVM 5 195 J0JJ9 eUJ U 2 06 passed seu usi 00 1 1 J9AQ 404J9 98e3 OA SNA MO 40J49 uOHISOd 404J9 J9AlJp 1ndinQo 40449 MOJO 10449 J9u1oue 49u1930 195 SAeMe J0JJ9 E49U9D5 0 ug Jn2230 J0JJ9 Aue Ji 55 ul 195 4030UJ y U 510414 S 1q 40443 jelpads M Y 1997 slig SURO EDEN uonduosag _ amea auey ssexv ons 251 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 1 MIS23x amp 5 75 Registers detailed Ud uonisoq 519151891 00131504 8 54915 22750 993 Suisn ISS ISS SS 1 Ue peas 1527 Sjuno uo spuadoaq UOI SOd Japooua aynjosq
42. 1dnJ491ui pue A uanboaJJ 42012 u18u9 ISS s129 9S uondidosog d 91908 0 M Y 91 dl M Y SESS9 0 91 1 1 ST 19 bu p o 8 VT 519 sug seuniq M Y 1991 mun umes sse v ezs JWI apo JIgas n Sel Tdnies lt owe 255 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x MIS 3x amp 5 75 Registers detailed 15 1 85L0 0Src LL 5159 V N V N V N V N V N eed 0112 9JedoaJg LIE 090 0 d JE LIE 9412 JO pea1su ued 1291 102010 SNAPOWN y Jo 5139195 pasn si 291 0J22 Jae 195 SI 5141 XIPU JU 01 9AHne 9J JOSUAS 0192 JY JO uonisod 94 60 UOISIaA MJ Jo se pesnun ued 1 Sajdwes Jequunu 94 uesssduessmsonu ma 3 suropssduesjoiqunu __ of Br 9 duues 01 s 491s 89J 329 9S 1991 1 1 8 51 519 pue auum SS spajas 0 518 1997 gndipsad Lun mea sg E JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 256 15 1 MIS23x amp SMC75 Registers detailed jndino ue se O I 9941
43. 400 800 1000 or 1600 pulses revolution SMD73 family Supply voltage 12 28 VDC SMD74 family Supply voltage 12 48VDC For special versions please contact your nearest JVL distributor For further information on the pulse direction driver see also SMD73 74 Data sheet and Technical Note JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 11 1 11 1 1 11 1 2 Step motor drivers SMDxx Block diagram Pulse Direction Version SMD73 74 Bus Supply 9 2 28V Power supply connector Stepclock Direction 34 Encoder Output Driver Gonnections Versions with pulse and direction control Connections for versions with 12 connector See also SMD73 data sheet JVL cable WI1000M12 F5TxxN 12 28VDC Signal Ground xx 05 for 5 metre and 20 for 20 metre cable Versions with cable glands and 5 m cable pe 22800 Shield Signal ground JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 215 11 2 Step motor controllers SMCxx SMC75 SMC75 mounted in a housing The compact step motor controller SMC75 is Driver technology is improved as com designed for positioning and speed control of pared to SMD73 and supply voltage is stepper motors SIMC75 is a PCB with di 12 48VDC mensions 57x57mm and mounted with SMD electronics on both side
44. 8 pin female RS485 IOA 1 4 5 pin male CAN 5 pin female CAN 75 nection M12 2 pcs 5 pin male power 8 pin female RS485 4IOA on 2 sides High volume SMC75 nection M12 2 pcs 5 pin male power 8 pin female RS485 4IOA on 2 sides 1 50 pcs SMC75 2 cable Clends M12x1 5 and no cable mounted side mounted only MIS231 2 cable Clands M12x1 5 and 5m power and 10 cable with shield mounted Side mounted 2 cable Clands M12x1 5 and 1m power and 10 cable with shield mounted Side mounted C6 CANOPEN 2 pcs PG12 cable Clands M12x1 5 and 2m power and IO cable with shield mounted Side mounted WO 2pcs PG1 W1 2pcs PG1 W2 2pcs PG1 2 cable Clands M12x1 5 and no cable mounted Rear end mounted 2 cable Clends M12x1 5 and 1m power and 1m IO cable with shield mounted Rear end mounted 2 cable Clends M12x1 5 and 5m power and 1m IO cable with shield mounted Rear end mounted FP MIS34x 4 pcs M12 5 pin male power 8pin female 5485 12 female IO 5 pin male B Profibus DP Q6 MIS34x 4 pcs M12 5 pin male power Q9 MIS34x 4 pcs M12 5 pin male power Q5 MIS34x 4 pcs M12 5 pin male power female R5485 EC MIS34x 4 pcs M12 5 pin male power EI MIS34x 4 pcs M12 5 pin male power 8pin female R5485 8pin female R5485 12 female IO 8 pin male SSI IC5 6 17 female IO 5 pin female A CANopen 12 female IO 5 pin temale A CANopen 17 female IO 2x 4 pin male D Ethernet Ethercat 17 fe
45. 92 124 Error acceleration 77 Error Control Services 210 Error handling 77 Error output 27 Error Mask 105 137 Errors clearing 49 Exit safe mode 292 Expansion modules MACOO BI B2 B4 36 37 39 40 42 43 Ext Encoder 111 143 Ext Encoder Vel 112 144 Factors 198 Fbus Baud 111 143 Fbus Nodeld 111 143 Filtering 20 Filters 30 49 Filters analog input 20 FilterStatus 98 130 Flash 49 Flwerr 90 122 Flwerrmax 90 122 Follow error 77 Fuse dimensioning 13 G Galvanic isolation 16 19 24 Gear mode 71 GEARI 10 67 86 89 118 121 GEAR2 10 86 89 118 121 GND 181 Ground 16 Grounding 35 38 41 181 Grounding power supply 13 Group write register 293 Group 108 140 Group Seq 108 140 H Hardware Rev 109 141 Heartbeat 210 211 Home input 18 Home sensor 74 Home Bits 102 134 Homemode 94 126 Homing mode 200 In physical position output 27 In position output 27 Index Offset 101 133 Indexer SMI30 239 Inpos Mask 105 137 Input Filter Cnt 105 137 Input Filter Mask 105 137 Inputs 90 122 Analogue 19 Digital 18 End of travel 17 Home 18 SMC75 15 Step pulse and direction 17 Interface RS485 26 losetup 90 102 122 134 IP67 37 40 43 181 J Jump 161 Jump according to a comparison 172 Jump according to a register in the MAC motor 165 Jumps 161 162 165 172 L Life Guarding 210 MI2 35 43 181 12 connector 7 215 23 01 244 23 02 24
46. I O channel 2 Can be used as input or output I O channel Can be used as input or output Ground intended to be used toghether with the other signals in this connector 1 O2 O3 D GN RS485 A RS485 interface Leave open if unused O4 I O channel 4 Can be used as input or output 7 CVO Supply output Connected internally to the CVI 1 terminal in the PWR connector CN4 RS485 I O connector M12 17pin female connector JVL Cable Isolation WI1009M12 group Signal name Description M17TxxN see note 2 WO crannel 2 Cen be usedasinputorouipa 1 Fics _____ WO channel 3 Can be usedasinputoroutpu 4 Gem 1 re mwmiowmmag t _____ WO cnannel4 Cen be usedasinputorouipa 6 Bex 1 ss Sw t Supply output Connected internally to the CVI termi omo nal in the PWR connector 1 DO NOT connect gt 30V to this terminal ______ WOchannel6 Can be used as input or ouput 2 Rewe 1 _ ______ WOchannel Can be used asinput oroutput 4 creem o GND Only for motors installed with the H3 option absolute EATBACKUE multiturn encoder This terminal can be connected to 16 1 an external supply Connect to ground if not used RS485 A RS485 interface Leave open if unused White grey Note Isolation group indicate which terminals circuit
47. Input 8 care Matar error Don t care AE HD EE NE NO E NN NE NE A HE EE ME NO E NN NE E In position Don t care Function lests for an input condition before either jumping to another line in the program or moving on to the next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute the next line in the program When Input type is set to Multiple multiple inputs can be tested for being either high or low The Operand setting determines whether one or all of the inputs must meet their test criterion If set to And all inputs must match their test settings If set to Or only one input need match its test setting Inputs that are set to Don t care are not tested After pressing the OK button the dialogue will disappear and the mouse cursor will change The next program line that you click on will then become the destination of the jump command 162 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 7 Graphic programming command reference 9 7 13 Wait for x ms before continuing Dialogue Wait Time Cancel Function Causes the program to pause for a number of milliseconds before continuing The maximum pause that can be specified is 65535 milliseconds The minimum pause that can be specified is 0 milliseconds Note that th
48. JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 284 15 3 Velocity accuracy When setting a velocity in V SOLL the motor will not run at that exact velocity The exact velocity can be calculated with the following formula 93750 1 196 Round SOLL Note The Round function rounds the number to the nearest integer resulting velocity Also note that the lowest possible velocity is 1 43 RPM and the highest is 1023 RPM JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 285 15 4 Command timing Each command has a certain execution time The specified execution time in the following table is the maximum execution time if not using CANopen serial com munication and the motor is disabled The actual execution may be faster leon Name Execution time us NA Remarks Set operation mode Move relative no velocity no acceleration 5 Move relative set velocity no acceleration Move relative set velocity set acceleration Move absolute no velocity no acceleration 1 Move absolute set velocity no acceleration 2 Move absolute set velocity set acceleration 180 Set single output high low Set multiple outputs 30 number of outputs Unconditional jump ES 4 T Conditional jump inputs oet a register Conditional jump register 2 oave p
49. Relative Dialogue Mowe type Relative C Relative velocity change at distance Cancel C Relatiwe set outputs Absolute Sensor General parameters Distance Jr Counts Register 1 Acceleration Register 2 Register 3 Velocity 0 RPM Wall Far in position m Enter velocity or acceleration to use the current velocity acceleration Function Performs a movement relative to the current position The distance moved is measured in encoder counts and can either be entered directly or taken from three registers in the user memory area For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V SOLL will be overwritten with this velocity value Also if you specify an acceleration motor register no 6 SOLL will be overwritten with the acceleration value specified Register no 49 is always overwritten by this command If the Wait for in position option is checked the program will wait until the motor has finished the movement before proceeding to the next program line If this option is not checked the program will start the movement then immediately start executing the next command The motor will finish the movement on its own unless given other instructions by the JVL Industri Elektronik A S User Manual Integrated St
50. SCS Position actual S084 o NTEGERES x Target postion o NTEGER positon dmi 8070 o _ x 2 UNSIGNED8 X 2 POATE 607D 1 INTEGER32 Min position limit software position limit 607D 2 INTEGER32 Max position limit Max motor speed 6080 0 UNSIGNED2 Profile velocity 6081 0 UNSIGNED32 7 Profile acceleration 6083 o UNSIGNED2 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 5 Objects used in the DSP 402 standard Index Type Read Red _ _ Quick stop deceleraion 6085 0 UNSIGNED32 Motion_profile 6086 INTEGERI6 Profile velocitymode Velocity value _______6062 o INTEGER x 0 ity sensor actual el _demand_ is X iy window NE window o fo UNSIONEDG _ STC Home o INIEGERZ Homing method INIEGER8 Homing speeds o UNSIONED x iore 999 1 during search for switch during search for zero Homing acceleration 609A 0 UNSIGNED32 S K E GNE i y p Factors Position notation index 6089 INTEGER8 INTEGER8 UNSGNEDE _ FVelociy_notaton index 68 o Position encoder resolution 608F UNSIGNED32 Encoder in
51. SMC85 controller PCB is used in all the MIS34x motors JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 1 Power Supply Only MIS23x 2 1 1 2 1 2 12 General Aspects of Power Supply only IMIS28 3x motors Powering of the Controller is relatively simple To ensure that powering of the Controller is as simple as possible only a driver and con trol voltage are connected to the Controller Internal supply circuitry ensures the correct supply voltages for the driver control circuits etc The motor can be operated with the same power supply if using 12 28VDC for both Driver and control voltage Often a higher voltage than 28VDC is desired as main supply since the motor have a better torque performance at higher speed In this case a separate control supply CVI must be used with max 28VDC MIS23x Power Supply Main Power Supply 12 48VDC P Main supply Control Voltage 12 28 VDC CVI Control circuit supply TT2159GB NB for actual connections see drawing 1 1 2 Step motor controllers SMCxx page 219 Main Power Supply P only MIS23x motors The Driver section requires a supply voltage in the range 2 48VDC nominal It is strong ly recommended to use a voltage as high as possible since it will give the best torque per formance of the motor at high speeds For optimum performance it is recommended that a capacitance of minimum is connecte
52. Source driver This means that they share a common ground see above illustration The Driver executes the step on the leading flank of the Step Input pulse see above illustration If gear mode is selected then IO and 102 can be used as step pulse and Direction Inputs or encoder inputs JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x I7 2 2 7 18 Inputs Step occurs on the Min 5uS Min 5 5 leading flank 1 bh Step clock 101 Min 2 5uS Min 2 5uS Direction 02 ZA V L The Direction signal must be well defined in this interval PLC or Pulse Generator Note screen only connected on signal source Home Input Any of the 8 inputs can be used as Home input for the zero search function A zero search occurs when the Controller receives the seek zero search command by changing Mode Reg Section 8 2 3 page 85 The Home Input can be set from MacTalk or via register Home Mask Section 8 2 68 page 104 It is possible to see when a zero search is finished by reading a bit in Status bits Section 8 2 21 page 91 Digital inputs All of the eight I O signals can be used as digital inputs The sampled and possibly filtered value of each input is stored in the Input s register reg 18 Unlike the analogue inputs there is only one value for each digital input so it must be configured to be either unfil tered or filtered Unfiltered high speed
53. The table below lists some of the com munications profile objects Data Parameter Special Transfer functions a Service Data Objects Synchronisation a The access from the CAN network is done through data objects PDO Process Data Ob ject and SDO Service Data Object Boot up telegram After the initialization phase a CANopen slave logs on with a boot up message The node address of the slave is contained in this This allows a CANopen master to know which slaves are connected to the network The protocol uses the same identifier as the error control protocols See the figure below NMT Master NMT Slave COB ID 700h Node ID 0 Indication Request TT1085GB One data byte is transmitted with value 0 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 203 10 6 IMore details of CANOpen Theory 10 6 3 PDO Process Data Object PDO Performs real time transfers and the transfer of PDOs is performed without a protocol PDOs are used in two ways for data transmission and for data reception PDOs can bundle all objects from the object data directory and a PDO can handle max 8 bytes of data in the same PDO The PDO can consist of multiple objects Another PDO characteristic is that it does not reply when it is receiving data in order to make data transfer fast It has a high priority identifier PDO connections follow the Pro
54. WI1009 M12M17S05N Length A 197 Ped Protection caps Optional if connector is not used to protect from dust liquids IP67 protection cap for M12 female connector WI1000 M12FCAP1 IP67 protection cap for M12 male connector WI1000 M12MCAP1 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 37 Please use instead CN4 PWR CN1 Future option Power input CN3 CN2 RS485 e 5422 TT2334 01GB cdr 2 11 4 MIS34xxxxQ6xxxx connector description Please notice The Q6 connector version is absolete Please use the Q5 version instead The MIS34x offers robust M12 connectors which makes it ideal for automation applica tions The MI2 connectors offer solid mechanical protection and are easy operate Following scheme gives the relevant information about each connector and the pins wire colours and a short description of the signals available The connector layout PWR CN1 Power input M12 5pin male connector JVL Cable WI1000 Isolation Signal name Description M12F5TxxN group 1 Main supply 12 80VDC Connect with 2 Main supply 12 80VDC Connect with pin 1 Control and user output supply 12 30VDC DO NOT connect gt 30V to this terminal Main supply ground Connect with pin 3 IP Main supply ground Connect with pin 5 Note and P are each available at 2 terminals Make sure that b
55. ow 27 40 wm _ Fame _ NEMADS S757 mm MEMMGhEI Lem uas r9 seoa mI _ sx ex 100 Mo m mm Max axial force l et ie wame 12 27 42 38 we 1 3 1 Basic modes functions in the QuickStep motor The QuickStep motor offers the following functions Mode Description Passive The motor will be in a completely passive state but communication is active and internal registers can be setup Motor shaft can be turned by hand Velocit The motor velocity can be controlled using MacTalk software or by setting register 5 V SOLL y using serial or program commands Position The motor position can be controlled using MacTalk or by setting register 3 P SOLL using serial or program commands The motor position and velocity can be controlled by pulse and direction or encoder signals at the inputs IN1 and IN2 The gear ratio can be set to a large ratio by using register 14 GEAR1 and register 15 GEAR2 10 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Hardware Intelligent products This chapter ONLY covers intelligent products which are based on either the SMC75 or SMC85 stepper controller The following pages explains how the I O Power supply Interface etc can be connected and used Please notice that the SMC75 controller PCB is used in all the MIS23x motors and the
56. 0 0 91 JO Jenba SI AG 801I sjndui uo 1 9941 AuigSg v COT 0 11091 COT JO anjea e o3 Jenba 51 Aq S4919UueJed 197 14 JO 59151891 XXX qNZ4V 9u1 995 9J0MUJJIJ UI Sureq 8 01 T Sindui uo 94 cOTL O 1997 5 518 UNY p 8 G 115 0 M Y q9T zS WdMW 51915 891 t vS 6 TET GESS9 T M Y 1497 CENTIES CHE dfiZiV JdAL YAGOONG IOASNA NIN 1 5 jndujsojeuy 8 UL uv UA 253 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 1 MIS23x amp 5 75 Registers detailed 89L0 8vvrcCLL 5214 8 mol y Sajdwes 0S pue 5319 8 4814 simui Aj eo1ud eJ8 9X2Uu9piJuoo epis1no sajdwes uMOUS Y N JO 05 104 514 540345 u 1 s dnjas J93 I4 9941 uo 1 1 4 sjndui sojeue JO Sjndui ado S xe sojeue JO JW edo s uunuulxelA sjndui So eue JO sjndui So eue 92uepijuo JO pe1epdn SJ91sI89J J93Je 195 5198 GT 722 104 51915189 XXX 7 SuipuodsaJ402 y 1 peo sanjeA
57. 19519 dNLIS p p j s si jndul d 94 TNI TNI uo indui d3QdOON3 Japooua Jopooue y S UNOD 1 151 1 1 5141 sjuno HACE 1X4 _ S 2 naor panasan M Y Ayjenb pue asiou y 104 nJesf uondeoaJ pue Sunp NYJ 941 uo pa32231ep SJ0JJ9 JO SJ191uno5 y JOJ 5 91eJedas S UNOD SESS9 0 11097 10443 NVD guru EDEN uonduosag wun sBuy ssxov ons 263 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 89L0 8Svc LL uonoes zordsq uaar mon 0909 of mdu rxepugnsiioovefo 0 SES90 sindinc o 9909 1991901 0 T eZ lz Oxepuiqns 4409 22900 0 0 wh o 909 399 901 __ 8 uonisoc o x puiqns 09 12990 Oj LtzkQc uonisoc o x puiqns 0909 vedo 0 5520 y wagt o 09 Pafqo 0 StSS90 pJoN o 0 09 1291901 _ 0 Stss9 0 8991 5 10 pesn A uo pue si uorndo y A uo
58. 3 The Flash backup feature support in MacTalk All setup values are accessible from MacTalk Flash Backup Acceptance Count 10000 Times Acceptance count Register 140 Acceptance voltage 0 91 Volt Acceptance voltage Register 139 Save threshold voltage 0 67 Wolk _ Save threshold voltage reg 141 Analog Input Selection Disabled Input selection Register 142 Value of P IST after powerup FS el t Absolute Singletum Encoder SetupRegister Register 124 t Absolut Encoder TT2265GB The QuickStep series offers many ways of position control using encoders From firm ware V 2 6 SSI standard encoder is supported and linear absolute positioning is possible using a SSl encoder JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 63 5 4 5 4 1 5 4 2 64 SSI encoder sensor interface General information concerning the differential lines The SMC75 provides a double differential RS422 interface that can be used for reading values from sensors including absolute multi turn encoders One of the interfaces the Al and Al 5V differential signals is always used for output while the other interface the and B signals can be used for either input or output On hardware versions earlier than version 1 5 the signals were always input To interface to an SSI sensor the signals are used as inputs Note that one
59. 43x 10 3 Using CanOpenExplorer TTIIOOGB JVL CanOpen Explorer EI Iblversion Node ID 5 Sync Time 50 Enable Sync Stop Guard time EDS File smc75 eds Cum D 200 Pea Stop Receive PDO Setup Transmit Setup 1 Manufacturer Specific Profile Specific Interface Profile User SDO List MODE_REG V S LL V SOLL MODE REG M DE REG MODE REG P SOLL P SOLL V_SOLL V SOLL 1 0 1 2000 0700 200 0 8 D 0 0 2 0 2 3 0 3 200 0 8 0 0 0 20000 0 4 20 100 0x64 V S LL 30000 07530 P_SOLL 0 2012 20000 0 4 20 il Read User 500 Write User 500 Send NMT command to node Start Pre operational Stop Reset Close WEEEEEEEEEELEE 4 Select here on the the manufacturer specific register 5 Select thereafter the object 0x2012 Object 0x2012 contains the motor parameters JVL CanOpen Explorer Iblersion Node ID 5 Sync Time 50 Enable Sync Stop Guard time EDS File smc 5 eds Load 200 Enable guarding Stop Communication A MessagelD Length Data Count Receive PDO Setup Transmit Setup Manufacturer Specific D 2012 Motor parameters B Number of entries 253 Sub 0 01 PROG VERSION 0 0 0 Sub 0x02 MODE REG 0 0 0 Sub 0x03 P SOLL 0 0 0 Sub 0x04 Parameter 4 0 0x0 Sub 0x05 V SDLL 0 0 0 Sub 0x06 SOLL 0 0 0 Sub 0x07 RUN CURRENT 0
60. 43x 157 9 7 Graphic programming command reference 9 7 7 IMove Absolute Dialogue Move type Relative C Relative velocity change at distance Cancel Relative set outputs Sensor General parameters Position o Counts Acceleration o RPMs Velocity o RPM Wall Far in position m Enter velocity or acceleration to use the current velocity acceleration Function Moves to an absolute non relative position The position is given in encoder counts and can either be entered directly or can be taken from one of three memory registers in the user memory area For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V SOLL will be overwritten with this velocity value Also if you specify an acceleration motor register no 6 SOLL will be overwritten with the acceleration value specified If the Wait for in position option is checked the program will wait until the motor has finished the movement before proceeding to the next program line If this option is not checked the program will start the movement then immediately start executing the next command The motor will finish the movement on its own unless given other instructions by the 158 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 7 Grap
61. 50 RPM The motor will stop and start at 50 RPM 8 2 13 GEAR1 14 GEAR1 16bit 215 215 1 1600 Output Description When the gear mode is active the input from the external encoder is multiplied by GEARI and divided by GEAR2 Example GEARI 1600 GEAR2 2000 If 2000 steps are applied to the input the motor will turn revolution If one step is applied the motor will not move but the remainder will be 0 8 If another step is applied the motor will move step and the remainder will be 0 6 If another step is applied the motor will move step and the remainder will be 0 4 And so on 8 2 14 GEAR2 15 GEAR2 16bit 215 215 1 2000 Input Description The denominator of the gear factor See GEARI for details 8 2 15 Encoder Pos Description lf the internal encoder option is installed this register shows the position feedback from the encoder This value is initialized to zero at power up and modified by the firmware when a zero search is performed The value can be used internally by the AutoCorrec tion system to retry a movement in position and gear modes JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 89 3 2 MIS23x Registers 8 2 16 Inputs INPUTS 16bit R ____ Inputs Description This register shows the status of the digital inputs Bit 0 7 shows whether IO 1 8 is active or inactive The active level can be set using IOSETUP See Osetup page 102
62. A S User Manual Integrated Stepper Motors MIS23x 34x 43x 24 14 1 Cables 242 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 14 2 14 2 1 14 2 2 14 2 3 Power Supplies PSUOO PD1 Combined power dump resistor and capacitor unit For a complete power supply sys tem only a transformer with a secondary winding supplying 32VAC is required For systems with up to 5 8 QuickStep motors this unit can serve as a central power dump unit The capacitor offers an efficient and economical way of storing the energy returned from the motors during deceleration of high inertias See also www jvl dk PSU48 240 A compact switch mode power supply with 240W output power at 48VDC The power supply is UL and CSA approved It is protected against overvoltage overtem perature and short circuit or overload of the output The power supply can either be mounted on a DIN rail or mounted See also the data sheet 00047 which can be downloaded from www jvl dk Other power supplies JVL offers a wide range of power supplies in the power range 45W to 5kW with output voltages 24 and 48VDC They all uses switch mode technology in order to minimize physical dimensions and for easy adaptation to mains voltages in the range 90 to 240VAC The product range covers the following types PSUO5 045 PSU24 075 PSU24 240 PSU48 240 PSU48 800 PSU48 1000 PSU48 1500 See also the data sheet LD0058
63. ENEN 107 I Os and R485 interface M12 8 pin female connector JVL Cable WI1000 M12 Isolation M8A05N group 7 Red _____ Cable Screen Some standard cables with M12 connector offer a screen around the cable This screen on some cables is fitted to the outer metal at the M12 connector When fitted to the SMC75 controller this means that the screen will have contact with the complete motor housing and thereby also the power ground main ground Signal name Description I O terminal 1 I O terminal 2 IO terminal 3 Ground for I O RS485 5V serial RS485 5V serial I O terminal JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 181 10 3 10 3 1 10 3 2 182 Using CanOpenExplorer The CanOpenExplorer program The CanOpenExplorer is a program that was developed for internal use only especially in production but the program offers features that are very convenient and which make it very easy to start up the MIS motor when this is supplied with an SMC75 CANopen Controller module The program can write and send SDOs PDOs SYNC and heartbeat messages and also can read EDS files An overall method for communication test Depending on the type of master and software solution available the following compo nents must be available PLC PC PLC with a CANopen module and software that can communicate with this module The CANopen module must be connected to a CAN bus a
64. Example The data 0x06 0x01 sets output 2 3 and clears output 1 Controller sends SMC75 Response PStat Address Len1 Data1 End PStat MAddress Len2 Data2 End JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 293 15 7 Serial communication Block description Block Name Protected Example Description MAddress Yes 00h FFh Address 0 re ere 08h F7h Len 8 The length of the return data O9h F6h Program state 00h F Fh OOh FFh Pro gram pointer OOh FFh Stack pointer lt Data2 gt Yes 00h F Fh Data returned from SMC75 00h F Fh Program check sum 80h 7Fh Inputs OOh FFh Outputs AA AA Command termination The returned data has the following format Data offset__ Size Descripton Programste SesigbIeDeOWTOrSlaos Stack pointer Program checksum This checksum is calculated when the program 4 16 bit is started input status Output status Program states Program state Description 0 Passive The program execution is stopped This state is only entered shortly at power up 1 Running The program execution is running A single step is in progress The program will run until the selected program position is reached Internal communication error has occurred This cannot happen on SMC75 Stain Er graim ea is being prepared
65. Future option for Profibus DP Ethernet Fixed 1600 pulses rev Bluetooth and Zigbee wireless e Built in processor with 8 In Out that can be configured as inputs PNP outputs or analogue inputs 5V serial and RS485 inter face for set up and programming MODBUS interface 9 6 to IMb communication 216 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 11 2 Step motor controllers SMCxx 11 2 1 Block diagram Positioning Speed Control Main supply SMC75 or SMC85 Controller P 12 48V SMC75 P 12 80V SMC85 1 8 step Switchmode Driver 2 28V logic PS OT 1600 step rev Power supply connector P Ground 9 3 Supply Fuse 750 Output source driver EET A 16 SMC75 digital logic 32Bit SMC85 lt gt Microprocessor Digital with IN8 Analog 8 Integrated Flash RS485 driver oe ee 55 p 0 Optional Tranciever Field Bus Encoder Optional Multifunction I O Interface Optional TT2140GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 217 11 2 Step motor controllers SMCxx Step Motor Controller SMC75 is a mini step driver with fixed 1600 pulses rev which has been designed for driving step motors with phase currents of up to 3 Amp phase RMS The Controller SMC75 is available in 2 different versions for various applications It
66. Generic error Motor error Error code 002h Generic error Position error Error code 1003h Generic error Follow error Error code 1004 Generic error Low Transmit PDO25 Use Transmit PDO25 in asynchronous mode to read the status of the error In the SMC75 no error control is enabled when the modules are started up because if there is any fault in the system it is impossible to get in contact with the module After the module has started up and there is communication between the master and the slave turn on the required error control mechanism in the communication objects see section 10 4 1 188 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 4 10 4 3 10 4 4 10 4 5 Objects in the 05301 standard Object dictionary Index Read hex Type only Description Motor pa rameters 2012 Unsigned8 x 254 count Access to the 32 bit motor regis NEM RES EN n rameters 2014 Unsigned8 x 254 count Access to the motor register n n Unsigned16 but as 16bit Writing to these objects in CANopenExplorer is done by pressing W on the keyboard when the register in folder Manufacturer is selected Reading is done by pressing R Object 2012h Motor parameters With this object all the registers of the MIS motor can be accessed All the registers are accessed as 32 bit When reading and writing to 6 bit registers the values are automat
67. J93 H 25 pue adojsxe 5 dn3es 1 1 4 991 9SOUM sojeue uo v N 991 40 8 1 7 0 Sig 9 duues Mau Jo 9 888 Y ECOT ECOL C AUJ 888 cOI 888 Y CCOT O 96559 0 ECOT T GLLCE 89LCE 8 1 O M Y M Y M Y M Y M Y 1991 1991 1991 1991 1991 1991 wondu seq sso v ans JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 254 15 1 MIS23x amp SMC795 Registers detailed 1O 6vvc LL S9IJ19J u29 9q JWI 1195 815 uonooulq 20815 ISS 1dnJ491ul 3 qesiq AouanbaJJ sq Jo 1equinN MOpUIM 398263 y SuluiiM Suleq uonisod y 104 8 11591 BIOJag Ue Jaye 0 Spuoossi Iu JO JequunwN ASEIAIGes Nd Jaysisau so qeu3 2 Ajjeusayxa pue 1 10 Ajuo 1 4 1 y A uo pesn aq 5 sjeusis pue asind au Ji syajas PUE ui s3ndino 607 1935 89 104 53 0 0 51 8 5119 jno JO 5 0 sig Jo41u02
68. MD M123 pcs 3m power cable PG12 8 pin female RS485 IOA 1 4 5 pin male CAN 5 pin female CAN SMC75 R1 Radial connection M12 2 pcs 5 pin male power 8 pin female RS485 4IOA on 2 sides High volume SMC75 R2 Radial connection M12 2 pcs 5 pin male power 8 pin female RS485 on 2 sides 1 50 pcs SMC75 C1 2 pcs PG12 cable Clands M12x1 5 and no cable mounted side mounted only MIS231 C2 2pcs PG12 cable Clands M12x1 5 and 5m power and IO cable with shield mounted Side mounted C3 2pcs PG12 cable Clands M12x1 5 and 1m power and IO cable with shield mounted Side mounted C6 CANOPEN 2 pcs PG12 cable Clands M12x1 5 and 2m power and IO cable with shield mounted Side mounted WO 2 pcs PG12 cable Clands M12x1 5 and no cable mounted Rear end mounted W1 2 pcs PG12 cable Clands M12x1 5 and 1m power and 1m IO cable with shield mounted Rear end mounted W2 2 pcs PG12 cable Clands M12x1 5 and 5m power and 1m IO cable with shield mounted Rear end mounted FP MIS34x 4 pcs M12 5 pin male power female RS485 12 female IO 5 pin male B Profibus DP Q6 MIS34x 4 pcs M12 5 pin male power female RS485 12 female IO 5 pin female A CANopen Q9 MIS34x 4 pcs M12 5 pin male power female RS485 12 female IO 8 pin male SSI 105 6 Q5 MIS34x 4 pcs M12 5 pin male power female RS485 17 female IO 5 pin female A CANopen EC MIS34x 4 pcs M12 5 pin male power 17 female IO 2x 4
69. MIS34x family MIS340 shown MIS23x family MIS232 shown TT2317 01GB This user manual describes the set up and usage of the following products Complete motors with build in controller or driver e Types 15231 MIS232 and MIS234 23 sizes Types MIS340 MIS341 and MIS342 NEMA34 sizes Types MIS43x NEMA43 sizes only limited supported in this manual Stand alone electronics without motor Types SMD73 and SMD74 drive PCB without intelligence not programmable Types SMC75 and SMC85 controller PCB with intelligence fully programmable All the quickstep motors are available as a fully programmable product with a wide range of features also covering a simple pulse and direction interface The smaller quickstep motors size MIS23x are also available as a non programmable simpler version with pulse and direction inputs for applications which are price sensitive Examples of motors and stand alone electronics MIS342 and MIS340 MIS232 MIS230 234 Standard version with step and direction input Standard version SMC75A1 SMC85A1 Step motor controller MIS340 Step motor controller with Bluetooth Step motor driver TT2319 01GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 5 1 1 Non programmable motors MIS231 Stepmotor with pulse and direction input TT2322 01GB The QuickStep series of Stepper motors with inte grated electronics represents a m
70. Negative limit NL Input will halt motor operation if the motor is mov ing in a negative direction The motor can however operate in a positive direction even if the NL Input is activated A bit will be set in the Controller s warning register if either the NL or PL Inputs has been activated or are active See Section 8 2 27 page 93 2 2 6 Step Pulse and Direction Inputs If gear mode is selected then 101 and 102 can be used as Step Pulse and Direction Inputs Thereby speed or position can be controlled proportional to the signal properties The Step Pulse Input IO 1 is used for applying pulse signals which make the motor move One signal pulse corresponds to a single ministep The Direction Input IO2 determines the direction of the motor movement If logic 1 is applied to the Direction Input the motor moves forward If logic 0 is applied to the Input the motor moves backwards The Step Pulse and Direction Inputs are not optically isolated from other Driver circuitry and must be driven either by a push pull driver or a PNP source driver The Inputs can handle voltages in the range 0 to 30 V which makes the controller well suited for indus trial applications for example in PLC systems Indexer Direction Electronic gearing is possible in the range 1 32767 to 32767 It is recommended that shielded cable is always used for connection to the Step Pulse and Direction Inputs Both inputs must be controlled from a
71. Profile position mode This mode can be used for positioning in which a move profile can be set up The accel eration and maximum velocity can be programmed In this mode both absolute and relative movement is supported This is selected using bit 6 absolute relative in the status word It is also possible to select different movement modes This is done with bit 5 change set immediately in the status word When this bit is and a move is in progress the new set point is accepted but the new set point and profile are not activated until the previous movement is finished When this bit is the new set point is activated instantly and the motor will move to the new position with the new profile parameters 10 5 5 Velocity mode In this mode the motor runs at a selected velocity new velocity can be selected and the motor will then accelerate decelerate to this velocity The maximum slippage error is not supported in this mode 10 5 6 Homing mode Using this mode different homing sequences can be initiated The standard homing modes from 34 are supported Before starting the homing the inputs must be config ured properly using MacTalk or parameters 125 129 1 30 132 200 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 5 Objects used in the DSP 402 standard 10 5 7 Supported PDOs Receive PDOs Mapping Mapping object Comment object name zi B Control word Controls the state
72. Range Default Unt MacTalk FilterStatus 16bit 0 65535 N A shown Description This register contains status bits for the analogue input filters The lowest eight bits hold confidence errors for each of the eight inputs while the highest eight bits hold the status of their slope errors The filter status is updated each second The confidence error bit will be set if more than half of the samples within the last second fell outside either of the confidence limits The slope errors will be set if more than half of the samples within the last second were slope limited 98 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MIS23x Registers 8 2 50 551 SETUP1 Name Size Access Range Default Unit MacTalk name 25bit 100 2 SSI Setup 16bit 16Bit PIE i pare time 100us Number of data bits Clock frequency Disable interrupts when Reading SSI Description This register contains status bits for the analogue input filters The lowest eight bits hold Register 107 SSI Setupl 16 bits The low byte selects the number of data bits in each SSI transfer The valid range is 0 to 31 corresponding to to 32 data bits The high byte selects the maximum clock speed in units of 10 kHz The valid range is 0 to 59 corre sponding to 10 kHz to 600 kHz Due to the nature of the firmware timing some timing jitter can occur while reading SSI data Some encoders doesn t
73. Rear end shaft 10 30mm long D shape Only MIS34x 16 5 00 mm round shaft IP42 17 9 53mm shaft D shape Black painted Shaft and rear end IP65 Only MIS34x 18 9 53mm shaft D shape Black painted Shaft and rear end 65 Rear end shaft e10mm 30mm long D shape Only MIS34x 19 14mm with 5x5 key shaft Black painted Shaf and rear end IP65 Only MIS34x 20 14mm with 5x5 key shaft Black painted Shaft and rear end IP65 Rear end shaft 10mrm 30mm long D shape Only MIS34x 21 16mm with key 5x9mm only for 22 19mm with key 6x20mm only for MIS43x MST42x 23 10mm Shaft IP67 motor and housing and rear end IP67 only MIS234 Driver 3 0A phase Motor 3Amp and 200step rev Driver 6 0A phase Motor and 200step rev Driver 9 0A phase Motor 9Amp and 200step rev Driver 12 0A phase Motor 12Amp and 200step rev Driver 3 0A phase Motor 3Amp and 400step rev Driver 6 0A phase Motor and 400step rev Driver 9 0A phase Motor 9Amp and 400step rev Driver 12 0A phase Motor 12Amp and 400step rev Driver 4 6A phase Motor 6Amp and 200step rev only MIS23x 230 23 stepmotor 231 NEMA23 stepmotor 232 NEMA23 stepmotor 234 23 stepmotor 340 NEMA34 stepmotor 341 NEMA34 stepmotor 342 NEMA34 stepmotor MIS MISxxx Motor Integrated Stepper xamples 2518 121 221 11 NN NI 231 A 25 D AU cIO0OnoouUu0 MIS Motor 6 35 shaft flying leads SMD73 driver LIED 1 MIS 232 A 3 M1 30 D Motor 10mm shaft M12 SM
74. SMC75 none of the error control mechanisms is enabled when the modules are started up because if there is any fault in the system it is impossible to contact the mod ule After the module has started up and there is communication between the master and the slave activate the required error control mechanism in the object Dictionary See section 10 4 1 212 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 11 Stand alone electronics JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 213 11 1 SMD73 74 Step motor driver J i E 1 mH m a 5 The internal electronics of the QuickStep series of Step per motors is available as stand alone boards to be used with any stepper motor which require a motor current in a reasonable range within what the board can handle The 2 available boards available are the SMD73 and SMD74 which are both non programmable drivers for stepper motors The 2 drivers have the following main specifications e SMD73 12 28VDC supply motor current 0 3 0ARMS per motor phase e SMD74 12 48VDC supply motor current 0 3 0ARMS per motor phase For applications with higher torque performance at higher speeds In the past decade pulse direction interfaces have be come increasingly popular for the control of step and servo motors This is due to the fact that pulse direction signa
75. a file The main window of the program changes according to the selected mode thus only showing the relevant parameters for operation in the selected mode The following pages describe the actual window for each mode and how the parameters affect MIS motor operation 48 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 4 1 4 1 2 Using the MacTalk software Toolbar description The toolbar at the top of MacTalk contains the most commonly used features t 9p gt A p 3 RS All Open Save Save flash Reset position Clear errors Reset motor Filter setup STOP Motor scan Open Opens a setup file from disc and downloads the setup to the motor If no motor is con nected the setup is shown in MacTalk and can be edited and saved to disc again Save Saves the actual setup from the motor to a file If no motor is connected the actual off line settings including module setups and program are saved Save in flash The complete actual setup in the basic motor will be saved permanently in the flash memory If the motor is powered down or reset the saved setup will be used Reset position Resets the position counter to 0 The content of the position counter can be monitored in the right side of the main screen as Actual position Clear errors Clears all the errors if any Please note that if an error is still present the motor will remain in the actual error state
76. a register in the IMAC motor Icon Dialogue Register condition Mo 1 0 Actual position Operator Equal Cancel Value 0 Revs Function Tests a register in the motor against a specified value before either jumping to another line in the program or moving on to the next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute the next line in the program The value can either be entered as native motor units or it can be entered as generic engineering units The dialogue above provides an example register no 10 P_IST or Actual position depending on your preference must be equal to 0 revolutions if the jump is to be executed The position that the register is tested against can be specified as an integer number of encoder counts or can be specified as a non integer number of revolutions After pressing the OK button the dialogue will disappear and the mouse cursor will change The next program line that you click on will then become the destination of the jump command JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 165 9 7 Graphic programming command reference 9 7 18 Wait for a register value before continuing Dialogue Register condition Ma 10 Actual position Operator EE Cancel Value 0 Revs Function Tests a regi
77. allow this or run with a very tight bit timing so that the firmware timing jitter causes trouble To prevent this interrupts during SSI reading can be disabled by setting the MSB of the high byte In this way the timing is strictly control led If the timing isn t critical and the motor velocity is high we recommend that the in terrupts isn t disabled 8 2 51 PulseDir Mask Reg Name Size Access Range __ Default Unit MacTalk name PulseDirMask 16bit R W 0 65535 Bitmask Pulse signal Direction signal Description The pulse and direction signals used to control the motor directly attached to the SMC75 board can also be optionally output to digital outputs and used to control other step per motors The value in this register selects one of three operating modes Mode 0 in which the pulse direction signals are used only internally to control the motor attached directly to the SMC75 board Mode in which the signals are not used internally but output to the digital outputs selected in register 109 Mode 2 where the signals are used both internally and sent out on the digital outputs See register 109 PulseDirMod page 99 for more information 8 2 52 PulseDirMod CRC T mode Description When enabled by register 108 this register defines which of the eight digital outputs are used to transmit the pulse and direction signals The lowest eight bits select which outputs will carry the pulse signal while the highest eigh
78. alternative method of entering data into the dialogue by selecting Simple list with short firmware names Instead of selecting for example 3 Requested position to access register no 3 you can simply type P SOLL If you wish to enter a constant you simply enter the digits the dialogue will not mistake the constant for a register number If you are in doubt about a register name look at the expression in the caption of the dialogue box A recognized register name will appear in the expression An unrecognized register name will appear as a zero You can switch between the two methods of data entry at any time JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 171 9 7 Graphic programming command reference 9 7 27 Jump according to a comparison Dialogue Reg 5 Requested position Operator gt Greater or equal Cancel Mo 51 Position Reg 2 Function Compares two registers with each other before either jumping to another line in the program or moving on to the next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute the next line in the program Any two registers can be compared with each other but the command does not do anything beyond comparing the registers numerical values measured in native motor units To ensure that compariso
79. by the cursor Errors If a fatal error occurs information will be displayed here Driver Parameter These fields are used to define standby and running current Warnings Gear Factor Here different warnings are shown The gear ratio can be entered here Left area If parameters entered Zero Search Autocorrection Communication are outside their normal All the parameters parameters used The actual address of the values errors are shown here regarding the position to get the correct position motor can be entered here Right area Here it is possible to zero search can if itis a motor with encoder see if a motor is connected be specified here THEME the type version and serial no Motion Parameters The distance the motor has to run is entered here 4 1 1 MacTalk introduction The MacTalk software is the main interface for setting up the MIS motor for a specific application The program offers the following features Selection of operating mode of the MIS motor Changing main parameters such as speed motor current zero search type etc Monitoring in real time the actual motor parameters such as supply voltage input status etc Changing protection limits such as position limits Saving all current parameters to disc Restoring all parameters from disc Saving all parameters permanently in the motor Updating the motor firmware or MacTalk software from the internet or
80. central point close to the power supply 2 1 5 Dimensioning power supply and fuse only MIS23x motors The power supply must be dimensioned according to the actual motor size The size of the pre fuse also depends on the actual model of the MIS motor Use the following table to select the power supply and fuse ratings Desired MIS231 MIS232 MIS234 voltage Supply Fuse size Supply Fuse size Supply Fuse size rating rating rating A8VDC 160W T6 3A 320W T10A Recommended 5024 075 5024 240 PSU24 240 PSU48 240 PSU48 240 PSUA8 240 pp y PSU40 4 PSU40 4 PSU40 4 See also the appendix which shows the standard power supplies that JVL offers 2 1 6 General power supply description The supply voltage can be chosen in the range 2VDC to 48VDC However the maxi mum torque is based on 48VDC A lower voltage will decrease the speed torque perfor mance and in general it is not recommended to run the motor at more than 300RPM if for example 24VDC is used as supply JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 13 2 1 Power Supply Only MIS23x Power supply connections to a MAC140 or a QuickStep motor Make sure that all Power supply involved units are connected to the same potential 12 48VDC Bus voltage 12 28VDC control voltage MAC140 Motor with 1 B2 or B4 Power Supply Allways use shielded cables The screen must be connected Control voltage to c
81. correctly Under normal operation the Error Output has a status of logic I but if the Driver is short circuited or the temperature exceeds 85 degrees Centigrade the Output is switched to logic 0 2 7 2 In Position Output In Position Output can be selected as one of the 8 outputs This selection is done in MacTalk or by setting a bit in register 137 bit 0 7 InPos Mask Section 8 2 73 page 105 When the motor is running the output will be inactive When the motor is at stand still the output will be active 2 7 3 In Physical Position Output In physical position can be selected as one of the 8 outputs This selection is done in MacTalk or by setting a bit in register 137 bit 8 15 InPos Mask Section 8 2 73 page 105 This signal is used together with MIS motors with an internal or external encoder for po sitioning This signal can be selected to be continuously updated and will then indicate if the motor is inside the In Position Window all the time If continuous update of the In Physical Position is not selected and the autocorrection is used this signal is changed after a move and when a check has been made of the posi tion after the settling time between retries if the motor is inside the In Position Win dow In Physical Position Example Actual Position In Position In Phys Position w update w Update IPVV 1 5 See also Cable 6 1005
82. cost applications where a short total length is required Can also be delivered with 5m cables as MIS231A1C2N075 Option for IP65 Pinno a 100 9 10 Nous Connector J4 GreyrPink 8 RediBlue SiS SSS Function coor SSS White Green Cable WG 1005 for MIS231A1C2N075 and mounted cable on MIS23 lal 75 Power Cable Connector J2 Function Colour Pe Re PGND Black Screen JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 29 2 9 1 2 9 3 2 9 4 2 9 5 30 Handling noise in cables About noise problems The MIS family of motors eliminates the traditional problems with noise from long motor cables that emit noise and feedback cables that are sensitive to noise from external sources However it is still necessary to be aware of noise problems with communications cables and the 8 general purpose inputs and outputs Whenever a digital signal changes level quickly a noise spike is generated and is trans ferred to the other wires in the same cable and to a lesser degree to wires in other ca bles located close to the cable with the switching signal A typical example is when a digital output from the MIS motor changes from low to high to drive a relay If this digital output signal is transmitted in a multi wire cable together with the RS 485 signals there is a high risk that the RS 485 signal will be affected to the ex
83. direction signals are used only internally to control the motor attached directly to the SMC75 board Mode in which the signals are not used internally but output to the digital outputs selected in register 109 Mode 2 where the signals are used both internally and sent out on the digital outputs See register 109 PulseDirMod page 99 for more information 8 3 52 PulseDirMod CECT mode Description When enabled by register 108 this register defines which of the eight digital outputs are used to transmit the pulse and direction signals The lowest eight bits select which outputs will carry the pulse signal while the highest eight bits select the outputs that carry the direction signal More than one output can be selected for each type of signal but the MacTalk program supports only one output for each signal The outputs selected here must be manually configured to operate as outputs using register 125 lOsetup page 102 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 131 8 3 MISS4x amp MIS4Sx Registers 8 3 53 Settling Time Reg Name Size Access Range __ Default Unit MacTalk name Settling Time 32bit R W 0 32676 ms Settling time between retries Description When the internal encoder option is installed and register 34 InPositionCount is non zero so AutoCorrection is enabled the value in this register defines how many millisec onds to wait after each movement atte
84. flash backup system When running the motor from 30 Volts or less it can be convenient to connect the bus voltage with the control voltage CV supply and use the value 12 in register 142 to mon itor the control voltage When running the motor from 48 Volts this is not allowed and can damage the controller board if voltage exceeds 30V Register 141 Save Threshold Voltage selects the voltage threshold that will trigger the flash backup save operation and stop all other motor operation When register 142 has the value 12 the scaling unit of register 141 is the same as register 97 Bus Voltage 1023 111 4 The register 142 has the values of 1 8 or 81 88 the scaling unit of register 141 is the same as registers 81 96 1023 5 0V Register 39 Acceptance Voltage selects the voltage threshold that defines when the power supply is ready to use for erasing flash memory after power up The scaling unit is the same as register 141 Register 140 Acceptance Count selects the number of times the Acceptance Voltage must be measured after power up before the flash erase operation is started When using values 1 8 or 12 for register 142 the count is in units of 245 microseconds When using values 81 88 the count is in units of 10 milliseconds Register 124 SetupBits selects to use Flash based Absolute Multi turn Encoder func tionality when bit is set JVL Industri Elektronik A S User Manual Integrated Stepper Motors M
85. for the dedicated function of In Position Output Exactly one bit must be set and the pin must be configured in register 125 as an output The In Position output will then be set after a movement has completed Example If output is to be used for the In Position Output write 20 to this register 8 2 74 Error Mask 77 73 Description Selects which one of the eight IO pins to use for the dedicated function of Error Output Exactly one bit must be set and the IO pin must be configured in register 125 as an output The Error Output will set be set when any error is set See register 35 Err Bits page 92 for more information on errors Example If output 3 is to be used for the Error Output write 22 4 to this register JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 105 3 2 MIS23x Registers 8 2 75 Acceptance voltage ae a ee Acceptance Description Acceptance Voltage selects the voltage threshold that defines when the power supply is ready to use for erasing the used flash memory sector after power up The scaling unit is as follows 1023 11 4V this is of cause a theoretical value and will greatly depends on which input that is used setup using register 142 Due to the HW variation on inputs different threshold values must be used The follow ing table will indicate which values to be used in combination with which input that is used
86. is built into the QuickStep Integrated Step Motors but for OEM and low cost applications it can be delivered as PCB or in its own housing with M2 connectors For easy mount ing and service the version with M12 connectors is recommended A version with cable glands can be used for high volume and low cost applications Order no BOX 5485 Cable md m MB NN E EIE IERI midi 1 11 Other combinations and features are also possible for OEM use See Connector over view for the MIS23x on page 32 for further information The box version which is built into a black aluminium casing provides a very robust construction that is insensitive to mechanical vibration and electrical noise The advantage of using a ministep driver instead of a conventional full step or half step driver is that mechanical resonance problems are significantly minimised Resonance most often occurs at slow motor speeds and results either in loss of motor torque or the appearance of significant harmonics The principle of the ministep technique is to drive the motor using a sinusoidal current in the interval between 2 physical full steps This re duces the step velocity between each step and thus damps any resonance significantly Comparison between ministep and full step Resonance during full step operation Position Current 9 0 Full steps 150 Overshoot 6 5 4 3 2 1 Position 4 Full steps Both 2 phase and 4 phase step
87. line Progam Sauce REM Progam Source Program Geras romar heck Program type JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x amp beclute gd relate Setup Updates SMC75 Status texts The message Program not transferred means that there is a difference between the program seen on the screen and the actual program in the module This can happen if the program have been edited but not transferred Status Running or Stopped refers to the program in the module OE MacTalk Nonan File View Motor Setup Updates Heb a gt b 8 MacTalk Address All Seve Seven flash Resetposition Reset motor Main 1 0 Setup Registers Advanced Tests Programming Programmable Transfer amp Stat Stop Pause SER eiu 3430 Program ES 1 2 3 mm 4 5 b Pause Use this botton if the program must be paused By paused means that actual program line executed is temporary paused When paused the single step feature can be used to debug the program open Mme AD fest Pogam Pry sanab Yea inum eee and elves New program Program setup Upload program Program information Print program Clear program Transf
88. machine and the digital outputs Digital outputs Mapping Mapping object name Event driven object Y 6061h Modes of operation display 6064h Position actual value 606Ch Velocity actual value Status word 60FDh Digital inputs JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 201 10 6 details of CANOpen Theory 10 6 1 CANopen DS 301 device profiles Standardized devices in CANopen have their characteristics described in a device profile For each device profile particular data and parameters are strictly defined Data and pa rameters are known as objects in CANopen Objects perform all processes in CAN open they can perform various tasks either as communications objects or as device spe cific objects where they are directly related to the device A communication object can transport data to the bus control and establish connection or supervise the network de vices The application layer makes it possible to exchange meaningful real time data across the CAN network The format of this data and its meaning must be known by the producer and the consumer s There are encoding rules that define the representation of values of data types and the CAN network transfer syntax for the representations Values are represented as bit sequences Bit sequences are transferred in sequences of octets byte For numerical data types the encoding is with the lowest byte first Every object is describ
89. measured and stored in this register This value is the basis for the warnings and errors of Low Bus Voltage and Over Voltage 8 2 41 Min_Busvol 98 MIN BUSVOL 16bit 0 1023 109 mV Min Bus Voltage Description Trigger point for under voltage 96 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MIS23x Registers 8 2 42 Encoder_Typ ENCODER TYPE 16bt R ___ Tooltip on motor 8 2 43 Afzup_WriteBits ee 77778 AFZUP_WriteBits 16bit Special Ia oU Filter Setup screen Description When changing values for the analogue input filter parameters this register is used in combination with registers 102 106 First all of the registers 102 106 must be loaded with the values to be used for one or more analogue input filters Then the lower eight bits in this register are set to select which inputs the parameters in registers 102 106 should control The firmware will detect this and copy the parameter values from registers 102 106 to internal storage Once this has been completed the firmware sets bit 15 in this register to show that registers 102 106 are free to receive new values for programming the remaining inputs with other filter parameters To use the same filtering for all analogue inputs this register can be loaded with 255 hex FF 8 2 44 Afzup Readindex Reg Name Size Access Range __ Default Unit MacTalk name 0 1 8 N A hand
90. measuring the power supply It can be to 8 for analogue inputs IO to 108 using the unfiltered values for fast response 81 to 88 for analogue inputs IO to 108 using the filtered values for noise immunity 2 for the bus voltage used for motor supply and finally 13 for measurement from HW rev 1 7 and up Any other value will disable the flash backup system When running the motor from 30 Volts or less it can be convenient to connect the bus voltage with the control voltage CV supply and use the value 12 in register 142 to mon itor the control voltage When running the motor from 48 Volts this is not allowed and can damage the controller board if voltage exceeds 30V 8 3 79 P New yey o Looms NA O Description This register can be used to change both of the registers P SOLL and P IST in one op eration This can be used to correct or offset the current position without performing a movement The register value can be copied to P IST and P SOLL using FastMac com mand 23 or it can be added with sign to both of these registers using FastMac command 24 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 39 8 3 MIS34x amp MIS4Sx Registers 8 3 80 Baud Rate Description The baud rate on the serial port 9600 baud 9200 baud default 38400 baud 57600 baud 115200 baud 230400 baud 460800 baud 921600 baud The firmware wil automatically update t
91. motors can be connected to the Controller which utilises the Bipolar Chopper principle of operation thus giving optimum motor performance 218 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 11 2 Step motor controllers SMCxx 11 2 2 SMC75 Connector overview The connections to the various connectors of the SMC75 PCB board is shown below Note that GND and P are connected together internally User IO g EV Yl 4 fe E E n E MEM EE xml d Recommended connectors Molex or equivalent from CViLux Crimp contact 50079 8000 x 10 Housing 10 pin 51021 1000 x 1 or CViLux Crimp contact Cl44T011PEO x 10 Housing 10 pin Cl4410 SOOO x 1 Recommended connectors Recommended connector Molex or equivalent from CViLux CViLux Housing Crimp terminals Crimp contact 50079 8000 x 6 Crimp contact Cl44T011PEO x6 Molex 09 91 0300 Molex 08 50 106 Housing 6 pin 51021 0600 x 1 Housing 6 pin Cl4406 5000 x1 Nylon UL94V O Pitch 3 96mm The figure below shows the generation 2 connector for future or special purposes Please contact JVL for further information Generation 2 interface User I O Devicenet sense Encoder outputs SQPOFQ 36S2 B 1 Plastron Precision co Ltd Female header TT2221GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 219 11 3 How to connect the motor
92. move the difference between 0 and the value specified in the The speed and acceleration Velocity Zero search position field is set to the general setting X in MacTalk under Profile data Zero search in progress velocity etc depends on the actual zero search mode Time tL Zero search tL After the basic zero search has tL Actual position counter started been done the actual position counter is now zero position 0 is set to the value specified in the Zero search complete Zero search position register Zero search Zero search mode Power Sensor ty zero search position 1000 1000 Counts zero search velocity 140 TT2171GB Ensure several tests are made to ensure the white dot is located in the acceptable interval each time JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 75 6 5 Zero search modes Example Zero search velocity 128 rpm Zero search position 10000 counts Position before Zero search Sensor Type 2 X X Actual position zero search position 2mm i N Max Velocity Actual position O X 6 5 8 Zero search with index pulse pulse IZZ Index pulse range 1 rev of motor To If the MIS motor is equipped with an encoder it is also possible to use the index pulse of the encoder This gives a much more precise zero position than just running for a sensor The accuracy of the se
93. multi axis applications and MODBUS communication Standard e CANbus CANopen DS 301 DSP 402 DeviceNet under development CANbus and RS485 can be used at the same time pending at which motor type you are using Please the chapter Connector over f Please notice The number of available terminals available may vary de view for the MIS23x page 32 or Connector overview for the MIS34x page 34 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 25 2 6 1 26 RS485 Interface RS485 General description when using a QuickStep motor The RS485 interface offers MOTS NOIE COMIN sags network with QuickStep 1 x MAC140 and 1 x MAC800 nication compared to the mounted with MACOO B1 B2 or B4 modules RS232 interface Up to 32 Central Make sure that all motors can be connected to seed amie aie Power supply connected to the same the same interface bus for example a PC potential 252 Opto isolation N E es t E When connecting the RS485 Se o8 interface to a central control 1 I Screen connected ler the following rules must uc aa be followed QuickStep motor or SMC75 Controller Address Use twisted pair cable RS485 2 Use shielded cable p Interface 3 Power 3 Make sure that the GND is Supply also connected 4 Ensure that all units have a proper connection to safety ground earth in order to refe
94. network After it has received the RTR message the PDO producer sends the requested PDO This service is used for RTR queries Using this ser vice an actual value can be interrogated independently of the selected cycle time The following figure shows a read PDO service PDO Producer PDO Consumers Indication Request Response Confirmation Proces data TTI087GB PDO identifier In the CAN Open profile it is only possible to have four transmit and four receive PDOs enabled at the same time In the SMC75 controller all PDOs are disabled when the mod ule is booted up The user must choose which PDOs the application will use and enable these The PDO configuration can be seen either in the EDS file or in the CanOpen Explorer program where the communication and the mapping parameters are shown There are two standard methods to map the PDOs in CANopen static mapping and dy namic mapping In static PDO mapping all PDOs are mapped in accordance with some fixed non modifiable setting in the relevant PDO In dynamic PDO mapping the setting of a PDO can be modified It is also allowable to have a flexible combination of different process data during operation The SMC75 controller uses only static mapping SDO Service Data Objects SDO can access all entries in the object directory but they are normally used in the ini tialization during the boot up procedure Some SDOs characteristics are Confirmed transfer of ob
95. of motor phase currents is that the thermal output of the mo tor must not exceed the maximum operating temperature of the step motor Standby time mes Current overview wszs wszs sse wssez Unt If a MIS232 motor is used and the current is set to 3000 mA the motor will be able to deliver a torque of 1 6 Nm at low speed If the current is set to 1000 mA the motor will be able to deliver 0 53Nm See Run Current page 87 for information about Running Current and Standby Current page 88 for information about Standby Current 58 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 5 2 5 2 1 Auto Correction Auto correction Auto Correction is used in motors with a built in encoder only It is only used in position mode to re try a movement if the decoder position is too far from the target after the pulse generator has stopped moving the motor this will happen for instance if the movement was physically blocked the torque of the motor was insufficient or a bad val ue for start velocity or acceleration were used It might also be used to handle occasional mechanical oscillations The AutoCorrection system will first wait unconditionally for a certain time to allow the initial movement to settle mechanically before testing for the target position It will then attempt a normal movement using the same values for velocities and acceleration as the movement that f
96. of the other uses of the differential lines is to output pulses from the in ternal singlet urn absolute encoder on Al and but this requires that is set in output mode In firmware version 2 4 and later running on HW 1 5 or later the Bl interface is set up as input per default and the user must change parameter values to enable internal en coder outputs The SSI interface When the differential lines are used for SSI the Al lines work as a Clock signal from the SMC75 to the encoder while the signals work as a Data signal from the en coder to the SMC75 The figure above shows the SSI protocol principle The Clock line is normally high When a reading is requested the Clock goes low for tl micro seconds to allow the encoder to sample and prepare a value On the first rising edge of the Clock 1 no sampling is done but on the second rising edge of the Clock 2 the first data bit is read from the Data line Shortly after reading the bit value the SMC75 will set the Clock high and execute another cycle where the data bit is sampled just before each rising Clock After the last data bit has been sampled the Clock stays high The following parameters can be set up in the SMC75 registers Register 107 SSI Setupl 16 bits The low byte selects the number of data bits in each SSI transfer The valid range is 0 to 31 corresponding to to 32 data bits The high byte selects the maximum clock s
97. pin male D Ethernet Ethercat EL MIS34x 4 pcs M12 5 pin male power 17 female IO 2x 4 pin male D Ethernet Powerlink EI MIS34x 4 pcs M12 5 pin male power 17 female IO 2x 4 pin male D Ethernet Ethernet IP EP MIS34x 4 pcs M12 5 pin male power 17 female IO 2x 4 pin male D Ethernet Profinet FB MIS34x 4 pcs M12 5 pin male power female RS485 12 female IO Antenna Wireless Bluetooth MIS34x 4 pcs M12 5 pin male power female RS485 12 female IO Antenna Wireless LAN 1 6 35mm shaft and IP42 Round shaft 2 6 35mm shaft and IP65 motor shaft and body IP66 Rear and connector and special painting 3 10 0 mm shaft and IP42 4 10 0mm shaft and IP65 motor shaft and body IP66 Rear and connector and special painting 5 14mm shaft and IP42 6 14mm shaf and IP65 motor shaft and body IP66 Rear end and connector and special painting 7 8mm shaft 52mm long for HFOS worm gear IP42 8 6 35mm shaft with D cut and IP42 9 5 00 mm shaft with D cut and IP42 10 7 00mm shaft 45 5 mm long for Dunker flange and IP42 11 6 35mm shaft Black painted and rubber sealing in rear end IP65 Shaft end IP42 12 9 53mm shaft D shape Black painted Shaft end IP42 Only MIS34x 13 9 53mm shaft D shape Black painted Shaft end IP42 Rear end shaft 10mm 30mm long D shape Only MIS34x 14 14mm with 5x5 key shaft Black painted Shaft end IP42 Only MIS34x 15 14mm with 5x5 key shaft Black painted Shaf end IP42
98. selected here and gt Selection of output for el defined as either quadrature Mx s t te pem In Position and Errors irecti q ZE TERN or pulse direction type x 7 verse III Status of the inputs Eve Selection if it shall BEL mu a Plur ai pesii z 178R4321 be Inputs or Outputs Dover mp Status of the outputs Futsal 77 mad im wih ae kie Lot Ll C Doga pul Fite erated Dedicated Outputs uel h p Djip Pier Selection for outputs In position MM Fs mad In Physical Position Error IMS FARE ghi nai Fiber output It can also be selected OPT E if the pulses generated shall be used internally externally or both and which output should be used for pulse and direction signals Input filters Selection if O s Filter time constant can be adjusted here Here the filter for the shall use filters The same value is used for all inputs if filter TT2183GB digital inputs can be selected inputs are enabled The analogue value of certain inputs can be read Click at the input lamp and the ana logue value will be shown The upper value is the actual value and the lower value the filtered value 52 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 4 1 Using the MacTalk
99. software 4 1 6 Register Screen Die View Motor Programming Setup Updates 2 ww 9 Q V Open Save Save flash Reset postion Che enos Reset motor STOP Motor scen Man 1 0 Setup Rages Advanced Tests Scope Progamming Y Postion Acceleration Postion 1 P1 01 Courts Acosmon A1 Posten 2 P7 655 Acosieuton 2 62 Posten 3 P3 f Courts aon 3 Position 4 4 Courts Neoelet son 4 954 5 PS Courts Y Running cunerts Cument 1 11 Punhon Bus voltage P a 1 m vous 3 T3 100 ARM 8 d 54321 2 T2 Posion 7 fP7 4 Posion 8 PH Cumere 4 T4 Y Veloctie Outputs Velocity 1 1 450 87654321 Velestty 2 72 ad Estemal Encoder E ternal E Vekicdy u ar Enon Veleciy 4 fv of l Velocity 31723 Velocity 5 Velocity 6 Velocty 7 17 Velocty S These registers can be used with FastMac commands For example the motor can run to position P2 using velocity V2 acceleration deceleration A2 running current T2 using only a one byte command These values are not updated automatically To update place the cursor at the specific register value to the left of the box for new values and click Otherwise they only update at motor reset or power up JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 53
100. system is activated when a voltage goes under a preset val ue Then all absolute multi turn information is saved to flash at once All data are then recalled from flash memory at startup and the motor has the absolute position information saved at power down The input on which the voltage drop is monitored is selected between all standard l O s the P 12 48V power supply and a special input see the registers involved section later in this chapter When the operation is triggered the motor will not be able to work at all until the power has been cycled off and on again It is required that the supply control voltage drops relatively slowly to allow time to save the values to flash memory This can be secured by adding if necessary a large capacitor on the CV supply voltage and powering on off the external power supply on the AC side Beside the position information also error tracking information is saved This is very help ful for later troubleshooting Registers involved Register 142 Analogue Input Selection selects which analogue input to use for meas uring the power supply It can be to 8 for analogue inputs IO to 108 using the unfiltered values for fast response 81 to 88 for analogue inputs IO to 108 using the filtered values for noise immunity 12 for the 12 48V power supply P and finally 13 for a special input developed for this feature alone from HW rev 1 7 and up Any other value will disable the
101. the Guard time in milliseconds Is only mandatory if Guard time 100C UNSIGNED16 the module does not support heartbeat Life time Is the factor that guard time is multi 100D UNSIGNED8 plied with to give the life time for factor the node quarding protocol Heartbeat 1017 UNSIGNED8 If the Heartbeat timer is not 0 time Heartbeat is used Identity 1018 IDENTITY Contain general information about the module Vendor ID contains a unique value UNSIGNED32 0x0117 allocated to each manufactor 117h is JVLs vendor ID Mandatory Product Code identifies a specific UNSIGNED32 0x0200 device version SMC75 has the code 200H Note regarding device type index 1000 The device type register is composed of 2 6 bit registers One register describes which device profile the module supports and the other states which type of motors the mod ule supports and possible I O module The default value 0192h denotes that the DSP402 Device profile is supported and the value 0004h denotes that the SMC75 Controller supports stepper motors 10 4 2 Emergency object The EMCY emergency object is used to transfer an error message to the CANopen master or also to another node which can process the error message The reaction on the emergency object is not specified An emergency object is transmitted only once per error event The SMC75 supports the EMC object Emergency The following error codes can be generated Error code 001
102. the feed constant Object 6092h and gear ratio Object 609 Ih are set Example MIS232 Motor with 3 5 1 gear box is connected to a belt drive The diameter of the drive wheel is 12 4 The unit of position is required to be in millimetres The perimeter of the drive wheel is 389 56mm 124mmY pi The parameters should be set as follows Object Nam Value 6091 subindex 1 Gear ratio Motor revolutions 6091 subindex 2 Gear ratio Shaft revolutions 6092 subindex 1 Feed constant Feed 3696 6092 subindex 2 Feed constant Shaft revolutions 198 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 5 Objects used in the DSP 402 standard Velocity encoder factor This factor is used to convert the user unit into the internal unit RPM The factor is adjusted with the object 6094h Example An MIS232 hasl600 counts revolution We want the user unit of velocity to be in RPM This is the same as the internal unit The parameters should be set as follows 6094 subindex 1 Velocity encoder factor Numerator 1600 6094 subindex 2 Velocity encoder factor Divisor 1600 Example 2 We have an MIS232 that uses RPM as the internal velocity and the same belt drive as in the above Position factor example We want the user unit of velocity to be in mm s The parameters should be set as follows Object Name Calc
103. the user SDO list as a write SDO Pressing A performs a read and adds it to the user SDO list pane low er right as a read SDO The SDOs in the user SDO pane can be rearranged by dragging them with the mouse Double clicking on a user SDO list will execute the operation either reading or writing The bus state can be changed using the NMT buttons lower left e g to Operational to enable PDOs JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 185 10 3 186 Using CanOpenExplorer The button Read User SDOs will read all of the R type objects in the user SDO list This is useful for updating a large number of values in the EDS view The button Write User SDOs will write all of the W type objects in the user SDO list This is useful for automated testing Entries can be deleted from the user SDO list by selecting them with the mouse and pressing the delete key The sync Time field top right sets the time in milliseconds for the SYNC messages to be sent out SYNCs can be started and stopped using the buttons Enable Sync and the Stop button to the right The Guard Time field below the Sync Time field works like SYNC just for the Guarding message The close button exits the program after saving the list of user SDOs which will be au tomatically reloaded at the next program start JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 4 10 4 1
104. time In other random bus access routines this causes the destruction of suppressed messages In order to solve such a bus access conflict a repeated occupation of the bus is required using an appropriate triggering strategy The CAN protocol therefore deploys a routine to ensure that the message with the highest priority at any given time is sent without any destruction of message contents Short block length The maximum data length of a CAN message is limited to 8 bytes This data length is usu ally sufficient to transmit the information occurring in the lowest field area in a CAN mes sage Header A CAN message transmits the communications object and a variety of management and control information The management and control information bits are used to ensure error free data transmission and are automatically removed from the received message and inserted before a message is sent A simplified CANopen message could be as in the figure below 11 bit Header Data frame TT1093GB The two bit fields Header and Data form the simplified CANopen message The I bit Header is also designated as the identifier or as the COB ID Communication Object identifier JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 1 General information about CANopen JVL uses the bit format type CAN A but not the 29 bit format type CAN B The
105. user friendly icons Make the required choice on the Programming tab MacTalk Noname Motor Progressing Setup Updates m flash Des ETOS po Main 1 0 Setup Registers Advanced Tests Ficeremming MACID R Programesable lt piagi mi It val possible to uze Beth and Choose here to make a new program relakive Program Optionally uploads the actual program Upload bom module Use Ha Ko Program previously previously stored in the module module TT2188GB After making one of these 2 choices the program window will be opened 46 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Programming Main window The main window for creating a new program or editing a program is shown below angi Shop mitiskzation advanced Transfer Program Source C Progam Snurce Fr Syam eri sce Programming menu Main menu for creating a new program Verifying program size and other basic details for the SMC75 Controller Transfer amp Start Will transfer the complete program and start it Use Stop or Pause to stop it Stop Use this botton if the program must be stopped Program lines Each Botton represent a program line By pushing the botton a com mand can be entered at the program
106. w Find opposite side of sensor Use position limit input as sensor Ignore switch There are several ways to perform a Zero search Start from both sides of the reference sensor in a system with limit switches without having position limit problems to go to the opposite side of the sensor and use this position as zero position use a position limit as reference position In this case the zero search position must be be different from 0 or the motor enters passive mode ignore the reference switch input and use the actual position or index pulse as zero position before using the zero search position JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 73 6 5 Zero search modes 6 5 5 Sensor type 1 Zero search Sensor type zero search is carried out according to the following illustration Select the mechanical zero ero search u Zero search mode Power up Sensor ty ER search mode using this field The position is sampled in the exact 1000 position where the sensor was activated The motor the decelerates search velocity 140 140 moves the reverse distance back to the position where the sensor was activated Velocity Zero search position is optional offset See description in other chapter Zero search velocity defines the velocity used during Zero search t Zero search The sign of the specified velocity Sensor stat
107. 0 0 Sub 0 08 STANDBY TIME 0 0 0 Sub 0x09 STANDBY CUR 0 0 0 Sub 0x04 P IST 0 0 0 Sub Ox0B Parameter 11 0 0 0 Sub Ox0C V IST 0 0 0 Sub 00D V START 0 0 0 User SDO List Sub Ox0E Parameter 14 0 0 0 Sub OxOF Parameter 15 0 0 0 Sub 0x10 ENCODER_POS 0 0 0 Sub 0x11 Parameter 17 0 0 0 Sub 0x12 INPUTS 0 0 0 Sub 0x13 OUTPUTS 0 0 0 Sub 0x14 FLWERR 0 0 0 Sub 0x15 Parameter 21 0 0 0 Sub 0x16 FLWERRAMAX 0 0 0 Sub 0x17 Parameter 23 0 0x0 Sub 0x18 COMMAND 0 0 0 Sub 0219 STATUIS BITS 0 0 0 20000 0x4 20 Sub 0x14 TEMP 0 0 0 ES Sub 0 1 Parameter 27 0 0 0 Sub 0x10 MIN P IST 0 0 0 Read User SDOs Write User 500 Sub 0 10 Parameter 29 0 0 0 09 MODE REG V SOLL V SOLL MODE REG MODE REG M DE REG P SOLL P SOLL V SOLL V SOLL V SOLL P SOLL 1 0 1 2000 Dx7D 200 0 C8 D 0x0 2 0x2 3 0 3 200 0 8 D 0 0 20000 4E 20 100 0x64 30000 0 7530 Ind ni Gylden Canop V Corel GRAFIK JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 183 10 3 Using CanOpenExplorer 6 Point to the sub register 0x02 which is the register that determines in which mode the motor will operate TTIIO2GB JVL CanOpen Explorer PIE Ibiversion Node ID 5 Sync Time 50 Enable Sync Stop Guard time EDS Fil
108. 0 10 B prises Register 5 is selected as 16 bit that is V_IST actual velocity TT2266GB Transmit PDO 21 With this PDO the actual position can be read eye p 1 e 3 4 8 18 7 Dua P ST o Transmit PDO 22 With this PDO the actual velocity can be read Be p p p php Data ___ IST Reserved Reserved Reserved Res Res User selectable 16 bit User selectable 32 bit register exc 2014h sub 12 register exc ENCODER POS STATUSBITS register16 register 25 Transmit PDO 23 With this the value of the analogue inputs 1 4 can be read Bye 2 p p 6 7 Data ANALOGUE1 ANALOGUE2 ANALOGUE3 ANALOGUE4 Object 2014 sub 89 2014h sub 90 2014 sub 91 2014h sub 92 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 191 10 4 Objects in the 05301 standard Transmit PDO 24 With this PDO the value of the analogue inputs 4 8 can be read Bye 6 _ 7 ___ Data 5 ANALOGUE6 ANALOGUE7 _ ANALOGUE8 Object 2014h sub 93 2014h sub 94 2014h sub 95 2014h sub 96 Transmit PDO 25 With this PDO the motor status inputs and last error can be read This PDO also supports asynchronous transmission If this PDO is in asynchronous mode it will be transmitted every time the run status or inputs are changed Bye 0 2 6 7
109. 00 steps for ward and P IST will again be 1000 8 2 11 V IST 12 V IST 16bit R 0 1023 _ _____ RPM Actual Velocity Description This register shows the actual velocity of the motor The velocity is positive when run ning in a positive direction and negative when running in a negative direction Example If V SOLL 400 and a movement of 10000 steps is done V IST will be 400 during the move and when the move is complete V IST will be O 88 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MIS23x Registers 8 2 12 V_START 13 V_START 16bit 1 1023 Start Velocity Description The start velocity The motor will start the acceleration at this velocity It will also stop the deceleration at this velocity If is lower that V START the motor will not accelerate at all but start to run at V SOLL instantly The motor will actually start the movement with an internal V START V SOLL If V START is changed during a movement it will first be active when the motor stops or changes direction This also means that if V SOLL is changed to a value below V START while the motor is in motion the motor will decelerate to V START and run at that velocity Example V START 100 V SOLL 200 MODE REG 1 The motor will accelerate from 100 RPM to 200 RPM V SOLL is now changed to 50 The motor will decelerate to 100 RPM and continue at 100 RPM V SOLL is now changed to
110. 000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 Jects use In t e stan 606060000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 ore details of C NOpen eol y Stand alone electronics ee eee eee ee eee esses sessessessssesscssessescssecsessessesseseesesses 213 Step motor drivers SMDxx Step motor controllers SMCxx How to connect the motor How to connect in general Quick Start SMC75A1MxAA
111. 009 69 060600000000000000000000000000000000000000000000000000000000000000000000000000000000009 70 606060600000000000000000000000000000000000000000000000000000000000000000000000000000000 7 0606060600000000000000000000000000000000000000000000000000000000000000000000000000000000 2 Error Handling Registers iiti ntro uction to registers 60606000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 M IS23x Registers 0606060600000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 8l IS3 x amp IS 3x Registers 60606060000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 13 Building Sequential Programs ccccccccscccccccccccccccccccccccccccecccccccccccccccccccscccsccccces 145 Getting started with programming Programming Main window Programming menu How to build a program eneral programming hints ommand toolbox description raphic programming command reference ANopen Introduction eneral information about CANopen Connection and setup of th
112. 06000000000000000000000000000000000000000000000000000000000000000000000000000000000 9 0606060600000000000000000000000000000000000000000000000000000000000000000000000000000000 23 060606000000000000000000000000000000000000000000000000000000000000000000000000000000000 25 060606000000000000000000000000000000000000000000000000000000000000000000000000000000000 26 606060600000000000000000000000000000000000000000000000000000000000000000000000000000000 27 06006000000000000000000000000000000000000000000000000000000000000000000000000000000000 29 0606060600000000000000000000000000000000000000000000000000000000000000000000000000000000 30 60606000000000000000000000000000000000000000000000000000000000000000000000000000000000 32 060606000000000000000000000000000000000000000000000000000000000000000000000000000000000 3 j Hardware Non programmable products sessesscssesscoecoscosssscoscosessosssoscsssssessesssssesses 45 Using Mac Ei emer M Using the MacTalk software 060606000000000000000000000000000000000000000000000000000000000000000000000000000000000 18 Description of internal functions Adjusting the motor current Auto Correction SEE ceo Absolute position back up system SSI encoder sensor interface
113. 1 232 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 12 6 Trouble shooting guide 12 6 1 Problems related to communication with the motor Problem RS232 MacTalk is not communicating with the motor The status at the bottom of the screen shows No Connection but the power LED on the motor is lit and the serial cable is connected Action Check that the correct COM port is selected in the MacTalk Setup menu Check using Control Panel System Hardware Device Manager Ports COM amp LPT Check that the connection to the motor is made according to specifications If only one motor is used on the RS232 bus TX PD must be shorted to TX otherwise com munication can be very unstable Ensure that a firmware update has not been interrupted before the communication problem was observed If such an update is aborted interrupted it must be restarted and completed before the internal processor is back to normal and can handle com munication JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 233 234 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 1 Connection to other Equipment The SMC75 can be connected to other JVL products These connections are described in the following chapter JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 235 13 1 Connecting SMI30 SMC
114. 16bit RW Input filter time CNT Dedicated Outputs 139 Efe PNEW 325 RW 0 Counts Hie puse is wr pe ensi Fus onoue i wm mw oos Gmeb Fas cmo sea m n 150 MY ADDR f bit R W _ 0 254 Motor Address JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 83 3 2 MiS23x Registers SERIAL i CHECKSUM 32bit R 0 65535 HARDWARE e 16 on VOLTAGE 16bit 0 100 Volt coupes Motor BOOTLOADER Major 16 T on 161 m pem OPTION BITS 16bit R 0 65535 ERI Tooltip on motor tz FBUS NODE ID 16bit mE 0 255 5 Fieldbus Node ID Fieldbus Baud RE _ DA 15 515 LIT Encoder The following parameters are only available when the CanOpen option is installed and only used for DSP 402 Reg Name Size Access Range Default Unit Description 180 T ContolWorti 16bt RW 06555 o Object 6040 subindexO 8i StuusWord iet R 065535 fo Object 6047 subindex 0 182 Mode Of Operation 16 RW 0 255 o Object6060subindexO _ Speen 16bit La 0 255 Object 6061 subindex 0 p 251 Target Position 32bit Object 607A subindex 0 31 231 Actual Position 32bit mm I Object 6064 subindex 0 pr 29 Tar
115. 2 Startup made FB Change actual made Velocity C Position Profile data Max velocity 250 RPM Start velocity 100 RPM Acceleration 1250 APS Driver parameters Running Current 3 00 ARMS Standby Current 0 75 A RMS Standby time FOO a ms Gear factor Input 0 Pulses Output 0 Pulses Motion parameters Position Counts Example The motor has a resolution ofl600 pulses rev and the encoder 500 pulses rev If one revolution of the encoder should result in one motor revolution the Input must be set to 500 and the Output tol600 If the motor must run 5 revolutions because there is a gear with a reduction of 5 1 the output must be set to 5x1600 8000 instead JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 7 6 5 Zero search modes 6 5 1 Mechanical zero search modes In all positioning systems there is a requirement to be able to find a mechanical zero po sition after the system is powered up or at specific times during operation For this pur pose the MIS motor offers 2 different Zero search modes which can be selected from the MacTalk main window or by sending a command via one of the serial interfaces Select the Zero search mode ero search using this field The selected format will Zero search made Disabled be used as follows Immediately after ther motor is powered up only the Power up Formats If a search is
116. 2 How to connect the motor Motor Serial connection of phases Torque Velocity Current for Serial or Parallel connection Motor Md 1 1 41 4 2 1 41 5 9 Nominal current per phase in accordance wth manufacturer s specifications TT2207GB Connection of Step Motor Various types of step motor are available 2 phase Bipolar 4 connectors 2 4 phase Bipolar Unipolar 8 connectors 3 4 phase Unipolar 6 connectors Note that Type 3 motors indicated above Unipolar motors produce 4096 less torque This motor type can be used with success but is not recommended if a 4 or 8 wire motor is available instead This section will not describe the unipolar type further 2 phase or 4 phase motors can be connected to the Controllers as follows 2 phase Motors 4 wires This type of motor can be directly connected to the Controller s motor terminals The Controller current adjustment must not exceed the manufacturer s specified rated current for the motor 4 phase Motors 8 wires This type of motor can be connected to the Driver in one of the following two ways Serial connection of phases 2 Parallel connection of phases Selection of serial or parallel connection of the motor phases is typically determined by the speed requirements of the actual system If slow speeds are required typically less than kHz the motor phases can be connect ed in serial For operation at higher speeds greater t
117. 2 Support Auto en coder synchronize Description 0 Invert direction Bit Don t start program after power up Bit 3 2 Select encoder input type 0 Disabled Quadrature 2 Pulse direction Bit 4 Enable DSP 402 support Bit 5 Synchronize to encoder after passive These individual bits are used to control various functions in the firmware 8 2 63 lOsetup IOSETUP 16bit ___ 0 Special Inputs Outputs Description This register controls the eight IO s IO to Ol 8 These pins can be used either in input mode as combined digital and analogue inputs or used in output mode as digital out puts The lowest eight bits in this register can be used to individually invert the active lev el of the digital inputs The highest eight bits are used to select the corresponding pin as an output 102 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MiS23x Registers 8 2 64 Turntable Mode TURNTABLE Description In turntable mode the motor controls the revolution of a turntable that has the number of positions specified in register 127 Turntable Size This means the same position will be reached after rotating this number of steps in either direction This register selects one of three modes that define how the motor should move to a new position when the P SOLL register is changed If the value of this register is zero the motor will not operate in turntab
118. 24 Cables estu en Ue od oto Power Supplies Brakes and shaft reinforcement s 242 527413 e A M M 240 MIS23x amp SMC75 Registers detailed MIS34 43 SMC85 Registers detailed Velocity accuracy Command timing More about program timing Motor Connections Serial communication MIS Ordering Information SMC75 85 Ordering Information MST Motor Ordering Information e e e e min 266 285 286 287 288 290 295 296 297 CE Declaration of Conformity ea ede Ra Sae a Cogo s Pea o ease a Pee eese ae Dao 29 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Introduction
119. 2AWG and screen Same as above but 20m 787 inch WI1000 M12M8T20N Cable with M12 male 12 pin connector loose wire ends 0 22mm 24AWG and screen WI1009 M12M12TOSN Length 5m 197 inch Same as above but 20m 787 inch WI1009 M12M12T20N Protection caps Optional if connector is not used to protect from dust liquids IP67 protection cap for M12 E female connector WI1000 M12FCAP1 IP67 protection cap for M12 5 male connector Wl1000 M12MCAP1 40 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x CN2 a Wil CN3 Ethernet In 1 Ethernet Out PWR CN1 EC CN4 Power input jy 85485 I O Backup optional TT2335 01GB cdr 2 11 6 MIS34xxxxExxxxx connector description Hardware wise all the MIS34x motors with the Ethernet option are equal and offer the connectivity shown in the table below The following Ethernet protocols are supported in this moment MIS34xxxxEPxxxx ProfiNet MIS34xxxxElxxxx EtherNetIP MIS34xxxxECxxxx EtherCAT Following Ethernet protocols are supported in the near future MIS34xxxxELxxxx Ethernet POWERLINK MIS34xxxxEMxxxx Modbus TCP MIS34xxxxESxxxx Sercos III he MIS34x offers robust MI2 connectors which makes it ideal for automation applica tions The MI2 connectors offer solid mechanical protection and are easy operate Following scheme gives the relevant information about each connector and the pins wire colours and a s
120. 35 to MIS SMC75 The SMI3x or the SMC35B can control the MIS SMC75 in gear mode Pulse and direction are send from SMi3x to control position and speed To do this some parameters in both the SMI3x and SMC35B must be set up correctly In the SMI3x the definition of the number of pulses per revolution PR can be selected freely So normally it is recommended to set 1600 The SMI3x has inputs from ex ternal drivers for alarm and in Position signals If these are not connected set CBI5 0 and CBl6 0 The SMC75 must also be configured correctly The mode must be set to Gear Mode Reg 2 3 gear factor input and gear factor output then the motor will run at 100 rpm if velocity 100 in the SMI3x SMC35B The connection between the SMI3x Indexer or SMC35B Controller should be made ac cording to the following diagram SMI3x SMC35B MIS 101 4 SMC75 2 e e 1071 Dir 4 Gnd 5 eA Gnd TT2218GB The Controller SMC75 must be set to gear mode and the input and output for gear factor must be adjusted according to the actual application 236 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 13 2 Connecting MISxx SMC75 to SMD73 The MISxx SMC75 can control an external driver with pulse and direction signals for pre cise positioning and speed control The 8 outputs can be used to genera
121. 3x 34x 43x 12 Technical Data JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 225 12 1 IMIS23x Technical Data Only MIS23x Main Supply Volt age P Current consumption Power supply current requirements 2A max Refer to illustration Actual power supply currents will depend on voltage and load Control Voltage Range 12 to 28VDC CVI maintains power to control output driver and feed back circuits only when input voltage is removed no motor connected or passive mode 00mA Analogue Input Voltage Range 0 to 5VDC General Purpose I Number Type 8 Sources of output or input Q Logic Range Inputs and Outputs tolerant to 24VDC Inputs TTL level compatible Output Source Current Up to 350 mA per Channel See Chart section 2 4 Over Temp Short Circuit Transient Over Voltage Inductive Clamp 0 1 or to 100 ms Input Filter Ree O O O O O O O O Ol Communication Type Standard RS485 Type Optional RS422 2 6 to 921 6 kbps Type Optional CANopen DSP402 V2 0 DS301 3 0 2 0B Active Isolation Node Guarding heartbeat SDOs PDOs Static mapping Number of settings Open Loop Configura tion Steps per revolution Internal magnetic absolute rev p option H2xx Steps per Revolution 1024 256 Lines NUN Postion Encoder 32 Bi Edge Rate Max 27 280 kHz DUE 43 to 1023 RPM RPM 5 Accel Deceleration Range 3x10 RPM s 9 54 RPM s Electronic Gear
122. 4 MACOO B 1 82 84 Expansion Modules 36 37 39 40 42 43 MACOO B4 cables 37 40 43 MACOO BI B4 238 MacTalk 47 48 52 55 Main Loop Time 287 Max P Ist 92 124 Max Voltage 110 142 Min bus voltage 77 Min Busvol 96 128 Min P Ist 91 123 Ministeps 218 MIS23x connections 33 MLT 287 MODE REG 190 193 Mode Reg 18 85 117 185 190 193 Modes of operation 10 67 154 200 Gear mode 71 Passive mode 68 Positioning mode 70 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 302 17 Index Velocity mode 69 Zero search mode 72 76 Motor Connection 221 222 Motor Connections 288 Motor Phases 221 Motortype 109 141 Move Absolute 158 Move Relative set outputs 157 Move Relative velocity change at a distance 156 Move Relative 155 Move Sensor 159 Move current 58 Move operations 154 Multi Master capability 176 My Addr 109 141 Negative limit 17 NL Mask 103 135 NL negative limit 17 NMT Network Management services 209 Node address 177 Node Guarding Life Guarding 210 Node id 179 Noise 220 Noise emission 220 No loss bus arbitration 176 Notsaved 110 142 NPN output 16 Object dictionary 189 Object dictionary defined for DSP 402 support 196 Opening a file 50 Operating modes 10 67 76 154 200 Optical isolation 16 19 24 Option Bits 111 143 Ordering Information 295 Outputs 90 122 Encoder 28 Error output 27 In position 27 In pyhsical position 27 Pulse Direct
123. 4x 43x 8 3 MISS4x amp MIS4Sx Registers 8 3 57 S Time ee eee STIME RW Description This value selects the time in milliseconds between samples of the registers selected in registers 112 115 8 3 58 S Control 118 S CONTROL ___ 32bt RW __ Description This value controls the sample system It can assume three different values A value of zero is set by the firmware after all sampling has completed A value of one will initialize the sample system A value of two will start a new sample sequence and set this register to zero at comple tion The sampled values are read back using the command hex 53 SMC75 READSAMPLE 8 3 59 Buf Size LOL MENU X M ERU d Lue jsursze _ smt Description This read only register contains the maximum length of the sample buffers used to sam ple the registers selected in registers 1 12 115 Register 16 should never be set to a value higher than the value in this register 8 3 60 Index Offset 120 INDEX OFFSET 32bit R 0 1599 Steps ___ Tests ______ Description This register can be selected to receive the absolute value of the internal encoder where the Zero search home position was found during homing This is selected by bit 0 Use Index in register 122 It requires that the internal encoder option is installed JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 33 8 3 MISS4x amp MI
124. 6 Temperature too high 90 C Bit 7 Internal error Self diagnostics failed If any of these bits are set the motor is in a state of error and will not move until all the errors have been cleared Some of the errors can be cleared by writing zero to this register Other errors will require hardware fixes or intervention such as allowing the motor cool down or adjusting the power supply voltage 124 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MISS4x amp MIS4Sx Registers 8 3 27 Warn Bits 36 WARN BITS 32bit RW Special Warnings _____ Description Warning bits Bit 0 Positive limit active This bit will be set as long as the positive limit is active Bit Negative limit active This bit will be set as long as the negative limit is active Bit 2 Positive limit has been active Bit 3 Negative limit has been active Bit 4 Low bus voltage Bit 5 Reserved Bit 6 Temperature has been above 80 These bits provide information on both the actual state and remembered state of the end position limits the supply voltage and the temperature These are used for diagnostic purposes as well as handling position limit stops also after the motor may have left the end position mechanically 8 3 28 Start mode 37 STARTMODE 32bit RW 1 0 ___ Startup Mode Description The motor will switch to this mode after power up This is also the mode that is used whe
125. 6 3 6 4 6 5 N e e e e e NOM e e 10 1 10 2 10 3 programmable motors 06060600000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000909 6 rogrammable motors 06060600000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 enera escription 6060606000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 Hardware Intelligent products ecce eee ecce eee ee eee eee eee ee eeesseessesescesseceses Power Supply Analogue Inputs User QUE DUES per Serial interfaces overview RS485 Interface Special Special connections Handling noise in cables How to connect MIS23x How to connect MIS34x 606060600000000000000000000000000000000000000000000000000000000000000000000000000000000 2 0606060600000000000000000000000000000000000000000000000000000000000000000000000000000000 5 0606
126. 60000360 v 1 Receive Noaeiaroxsoooosoo L1 Tem fiw _ 1 Tensmi COB4D Nodeiasoxsooooaso _ ye 9 p I 4 Je I7 Daa PSOL _______ ASOL ____ Receive PDO 22 With this PDO it is possible to update the running current and operating mode ye p gt I3 14 5 T8 17 Baa RUNCURRENT MODEREG ect 20m sub 201 sub Receive PDO 23 This PDO can be used to issue a Motor command Bye p ppe b p ber Data Molor Command Reserved Reserved Reserved Res Res Res poumsozt Receive PDO 24 This PDO updates the outputs Be p p p gt Data Outpurdata Reserved Reserved Reserved Res Res Res Object 2014 sub 19 Jojo o d 190 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 4 10 4 6 Objects in the 05301 standard Transmit PDOs The PDOs 1 20 are reserved for use with DSP 402 All of the transmit PDOs support synchronous transmission PDO 25 also supports asyn chronous transmission From firmware V2 8 some new features has been developed in the CanOpen support From MacTalk both a l6 bit and 32 bit user selectable register can be setup to be trans mitted in PDO22 when using DSP 301 Register 10 is selected as 32 bit Y POO22 PD04 Beckhotf Register setup thatisP IST actual position 32 bit Register 1
127. 69 6 3 Positioning Mode 6 3 1 Positioning Mode In this mode the QuickStep motor positions the motor via commands sent over the se rial interface Various operating parameters can be changed continuously while the mo tor is running This mode of operation is used primarily in systems where the Controller is permanently connected to a PC PLC via the interface This mode is also well suited for setting up and testing systems The mode is also used when programming is done Startup made Passive Velocity Change actual made Profile data Max velocity 250 RPM Start velocity 100 RPM T Acceleration 1250 RPM 5 Driver parameters Running Current 3 00 RMS Standby Current um A RMS Standby time 500 ms Motion parameters Position 0 Counts 70 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 6 4 Gear Mode 6 4 1 Gear Mode In this mode the QuickStep motor functions as in a step motor driver The motor moves one step each time a voltage pulse is applied to the step pulse input Velocity accelera tion and deceleration are determined by the external frequency but can be limited and controlled by the QuickStep motor In addition the QuickStep motor also provides a fa cility for electronic gearing at a keyed in ratio in the interval 1 32767 to 32767 Start velocity is not used in this mode The digital input filter is not used in this mode at input and
128. 8GB 94 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MIS23x Registers 8 2 34 Pn Reg Size Access Range Default Unit MacTalk name _ TIT zoey Spe _ Positon Pn Description These eight general purpose position registers are referred to as and can be used to make absolute or relative movements in several different ways either from the user program or via the serial interfaces See also the sections on FastMac commands and the P NEW register description P New page 107 8 2 35 Vn 65 72 16bit 0 1023 Velocity n Vn Description These eight general purpose Velocity registers are referred to as VI V8 and can be used to change the velocity in several different ways either from the user program or via the serial interfaces See also the sections on FastMac commands 8 2 36 An Reg Name Size Access Range Default Unit MacTalk name_ Description These four general purpose Acceleration registers are referred to as Al A4 and can be used to change the acceleration in several different ways either from the user program or via the serial interfaces See also the sections on FastMac commands 8 2 37 Tn 77 80 16bit 0 511 5 87 mA Current n Tn Description These four general purpose Torque registers are referred to as 4 and can be used to change the velocity in several different ways either from the use
129. After this is completed the state will change Flash Error The program data is corrupted Flash Checksum Error The program data checksum is incorrect 294 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 8 MIS Ordering Information QuickStep MISxxx Motor Integrated Stepper motor Part number system S a o UU S 3 a lt SR SF AM EP IC Oe SS SEX A af o9 d P S 0 oe o QU 1 Ms wo 75 0 nenne 2010 8001 custom made for customer See special folder 01 to 31 Standby current ratio 03 1 3 standby current 73 74 75 85 D 24V NPN inputs E 24 PNP inputs F 5Vinputs specifiy mA 100 phase See SMD73 datasheet No driver 1 1 step with 200step rev motor 200 pulses rev 1 2 step with 200step rev motor 400 pulses rev 1 4 step with 200step rev motor 800 pulses rev 1 5 step with 200step rev motor 1000 pulses rev 1 8 step with 200step rev motor 1600 pulses rev 4 Normal No coating Standard KIT Kit for MIS23xxM5 with all cables and 160 test IO boks M Coating of PCB SM73 driver 15 28VDC Pulse and direction driver Only orders more than 10 pcs See note1 SMD74 Driver 12 48VDC based on SMD73 technology but up to 48VDC supply voltage SMC75 controller with MAC protocol 12 48VDC and optional encoder SMC85 controller 12 80VDC and new high resolution driver
130. C Connect with pin 2 Main supply 12 48VDC Connect with pin 1 JVL Cable WI1000M12 Isolation F5A05N group Brown Main supply ground Connect with pin 5 Control voltage 12 28VDC _ _____ Main supply ground Connect with pin 3 5 Note and P are each available at 2 terminals Ensure that both terminals are connected in order to split the supply current in 2 terminals and thereby avoid an overload of the connector BUS1 CAN open interface M12 5 pin male connector Cable user Isolation supplied group Signal name Description Shield for the CAN interface internally con nected to the motor housing CAN SHLD 2 CAN V CAN GND CAN H CAN L Reserved for future purpose do not connect CAN interface ground CAN interface Positive signal line CAN interface Negative signal line BUS2 CANopen interface M12 5 pin female connector Cable user supplied group Signal name Description Shield for the CAN interface internally connected to the CAN SHED motor housing 1 CAN_V CAN_GND CAN_H CAN L Reserved for future purpose do not connect CAN interface ground CAN interface Positive signal line CAN V ____ Reserved for future purpose donot connect 2 CANinterface ground S e O CANH ____ CAN interface Positive signal line 4 CANL CAN interface Negative signal ine 85 CAN interface Negative signal line 5 RN RENI
131. CAN bus connectors 180 CANopen 25 32 80 111 143 173 192 194 212 218 287 CAN bus connectors 180 CanOpen Explorer 179 182 186 Communication test 182 Connecting the SMC75 Controller to the CAN bus 178 05 301 174 05 301 device profiles 202 DSP 402 174 Node id and baud rate 179 PDOs 174 slave 174 CanOpen 84 116 CANopen network 174 Capacitor 12 CE requirements 220 299 Checksum 109 141 05 301 standard 174 membership 174 Clear errors 49 COB ID 177 190 193 Command 91 123 Command timing 286 Conditional jump multiple inputs 162 Conditional jump single input 161 Confidence alarms 21 Confidence check 20 Connecting the SMC75 Controller to the CAN bus 178 Connection of motor 221 222 Connection of motor phases 222 Connections Driver 7 215 MI2 7 215 MIS23x 33 Motor 221 SMC75 219 Connectors 35 43 181 MI2 35 43 181 Control voltage 13 CVI control voltage 13 D Declaration of Conformity 299 Digital inputs 18 Dimensions 230 Direction inputs 17 Download SDO 205 Driver connections 7 215 05 301 174 187 05301 specified Communications objects 187 DSP 402 84 116 DSP 402 174 DSP 402 Support 195 E EDS file 178 EMCY 188 Emergency object 188 Enable and Disable PDOs 189 Encoder outputs 28 Encoder Pos 89 121 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 30 17 Index Encoder Type 97 129 End of travel inputs 17 Enter safe mode 291 Err Bits 24
132. COB ID carries out two tasks for the controller communications object Busarbitration Specification of transmission priorities Identification of communications objects The COB ID comprises two sections Function code 4 bits in size 0 15 Node address Node ID 7 bits in size 0 127 The function code classifies the communications objects and controls the transmission priorities Objects with a small function code are transmitted with high priority For ex ample in the case of simultaneous bus access an object with the function code before an object with the function code 3 Node address a is sent Every device is configured before network operation with a unique 7 long node ad dress between and 127 The device address 0 is reserved for broadcast transmis sions in which messages are sent simultaneously to all devices PDO SDO EMCY NMT and heartbeat use the header frame for communication on the CANopen bus JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 177 10 2 Connection and setup of the CAN bus 10 2 1 10 2 2 78 Connecting the SMC75 Controller to the CAN bus Before you connect the Controller SMC75 to the CAN bus the Baud rate the Node ID and the termination must be selected On the serial bus it is possible to set a transmission speed Baud rate of max 1000 Kbit s and a min of 10 Kbit s The Baud rate depends on the c
133. D73 ET Ea I 1 31 Wis 232 A Motor 6 35mm shaft SMC75 3 pcs M12 connectors Wis 234 A 3 M6 Motor 10mm shaft SMC75 4 pcs M12 connectors CANopen MIS 232 A 1 M7 n Motor 6 35mm shaft SMC75 4 pcs M12 connectors DeviceNet Encoder H2 option MIS 340 B 5 M1 NO 41 Motor 14 0 mm shaft 1 pcs M12 connector 80V driver MIS 342 B 5 M7 NO 76 End of number No more letters or number should be added Note 1 For orders less than 10 pes use controller SMC75 instead allowing current and gear ratio to be freely progremmed JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Motor 14 0 mm shaft 4 pcs M12 connectors 80V controller DeviceNet Encoder H2 option 295 15 9 296 SiVIC75 85 Ordering Information SMC75 SMC85 selection chart Intelligent controllers Revision Sep 2010 SMC Stepmotor controller 75 Version 3ARMS 12 48VDC with 8IOA and optional CANopen DeviceNet and encoder 85 Version 12 160VDC with 8 and optional CANopen DeviceNet and encoder 3ARMS default PCB 5 PCB 5 A B 1 Hardware version 1 default 2 Hardware version 2 All M1 to M7 and Wx are hcusing versicn with 1 additional M12 5 piri male connector for the motor output mounted in side of the box AA Noconnectorboard and no housing Only PCB AC Noconnectorboard and no housing Only PCB With CAN Open AD No
134. Ek5aa31 oso het er T eee prre Jera orin An 5 Rrrr Lummi r a This field shows the register values ry ania retes a in the controller bc am Laon ems 1 rnm Encodes Valocily date Fa Phyo Mee bal corir kae Lg Cores br wien eos a aul ae ee oe 1 1 b Here it is possible to key in new values After pressing enter the value will be transferred to the motor and thereafter be read again from the controller and be shown at point a Because of digitalizing of the keyed in value the returned value in a can be By pressing the unit field it is possible to change between internal unit in the control different from the value in b ler and the unit shown to the user E g If user unit for current is ARMS and the internal unit is 5 87mA 300ARMS cor respond to 51 units Not all registers have different internal and user unit Speed for example is alway specified in RPM TT2182GB 4 1 5 IO Screen Active level can be HEN Fund fe ee eeg chosen to high or i d i i low on Inputs mM A 3 2 Wan ee Regim hi i Dedicated Inputs 5 s for T zi Selection for Inputs nat Bem T T HM NKL and PL Dinta 3 An external encoder can Co also be
135. For IOI IO8 Filtered or Non filtered an analogue voltage of 0 5V is sampled Anything above this will result in a 5V reading IOI IO8 5V 1023 Counts For Bus voltage and the CVI selection the scaling is as follows 1023 I 11 2V in theory so 48V 441 6 approximately due to component tolerances etc Please observe that CVI measurements are only available from HW Rev 7 and up The HW rev can be observed in the tooltip over the motor displayed in Mac Talk 8 2 76 Acceptance count 140 Acceptance Count 16bit 16bit 10000 Pa Acceptance Count Description Acceptance Count selects the number of times the Acceptance Voltage must be meas ured after power up before the flash erase operation is started When using values 1 8 or 12 for register 142 the count is in units of 245 microseconds When using values 81 88 the count is in units of 10 milliseconds The flash memory sector holding the absolute position information is erased at startup to save critical time when the absolute information is about to be saved to flash memory again This register selects when to consider the startup as completed and supply voltage as sta ble 106 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MiS23x Registers 8 2 77 Save threshold voltage a D EN Threshold 16bit 16bit Save Threshold Voltage Voltage Description When voltage drops below the selected value the absolute p
136. I AJY 3HVMQWNVH NNS WCE 11445 t 261 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 1 MIS23x amp SMC75 Registers detailed s 310 OT S UQ gt OZ s Aq os s 310 OOT S UQ gt SZT s 349 OSZ s 30 006 pe1xioddnsun s Aiq 008 s 30 0001 9 PJ snqp ary uedQue pneg y uo pesn 94 pI snqpyjal4 uedQue aui uo plapou ay 859L0 9Src LL 8 L 9 S 0 39N921 9Q 6 T 8 0 9JeMUJJIJ 991 9 qelAe suondo ST 8 lt JO y suondo au seulyop 0 Hg zey suondo 1euM 1noqe 4010UJ uo 001 SUIe1UOO J93SIS9J SIUL Le M Y anva s aic 5 SNOI JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 262 15 1 MIS23x amp SMC75 Registers detailed 224G8vcl L UOT s1uno SWOT si y TAA A31120 9A J9pooue y JO A1120 9A 43002N3 991 si 493sI89J 514 11091 1X3
137. IP66 Rear end and connector and speciel painting 5 14mm shaft and IP42 6 14mm shaft and IP65 motor shaft and body IP66 Rear end and connector and special painting 8mm shaft 52mm long for HFOS worm gear IP42 8 6 35mm shaft with D cut and IP42 9 5 00 mm shaft with D cut and IP42 10 7 00mm shaft 45 5 mm long for Dunker flange and IP42 11 6 35mm shaft Black painted and rubber sealing in rear end IP65 Shaft end IP42 12 9 53mm shaft D shape Black painted Shaft end IP42 Only MIS34x 13 9 53mm shaft D shape Black painted Shaft end IP42 Rear end shaft 10 30mm long D shape Only MIS34x 14 14mm with 5x5 key shaft Black painted Shafi end IP42 Only MIS34x 15 14mm with 5x5 key shaft Black painted Shaf end IP42 Rear end shaft 210mm 30mm D shape Only MIS34x 16 5 00 mm round shaft IP42 17 9 53mm shaft D shape Black painted Shaft and rear end IP65 Only MIS34x 18 9 53mm shaft D shape Black painted Shaft and rear end 65 Rear end shaft 10mm 30mm long D shape Only MIS34x 19 14mm with 5x5 key shaft Black painted Shafi and rear end IP65 Only MIS34x 20 14mm with 5x5 key shaft Black painted Shafi and rear end IP65 Rear end shaft 10mm 30mm long D shape Only MIS34x 21 16mm with key 5x9mm only for 23 19mm with key 6x20mm only for MIS43x MST42x 23 10mm Shatt IP67 motor and housing and rear end IP67 only MIS234 1 USA producent udg et 2 Taiwan leverand r TECO 3 leverand r Fulling 6
138. IS23x 34x 43x 103 3 2 MiS23x Registers 8 2 67 PL_Mask Reg Name Size Access Range __ Default Unit MacTalk name Dedicated Inputs Positive Limit Input Description Selects which one of the eight pins to use for the dedicated function of Positive Posi tion Limit Exactly one bit must be set and the pin must be configured in register 125 as an input Example If input 8 is to be used for the Positive Input Limit write 27 128 to this register 8 2 68 Home Mask Reg Name Size Access Range __ Default Unit MacTalk name Dedicated inputs Description Selects which one of the eight pins to use for the dedicated function of Home Input Exactly one bit must be set and the IO pin must be configured in register 125 as an input Example If input 2 is to be used for the Home Input write 21 2 to this register 8 2 69 Setup1 133 CAN Setup 16bit 16bit 35 32bit Register Description Register 33 holds the user selectable 32 bit register number that is transferred in PDO22 or PDO4 Beckhoff Please observe that this is not working with DSP402 Example Register 33 10 will transfer register 10 P IST actual position 32bit value in PDO22 or PDO4 8 2 70 CAN Setup 2 134 CAN Setup2 16bit 16bit 170 ______ 16 bit Register Description Register 34 holds the user selectable 6 bit register number that is transferred in PDO22 or PDO4 Beckhoff Ple
139. IS23x 34x 43x 61 9 3 9 3 2 62 Absolute position back up system Reading the Flash Backup data The Error tracking and diagnostics counters can be copied to the general purpose regis ter PI 8 and V1 8 by writing to the Command register 24 This can also be done by writ ing the value into MacTalk Command field on the Advanced tab and pressing Enter Saved positions Run Seconds and counters A command value of 260 will result in PI Last saved values of the Actual Position P IST P2 Total number of times motor has been powered down P3 Total number of seconds the PCB has been running with a valid CV supply voltage P4 Total number of times a PLC program has been uploaded P5 Total number of times the motor parameters have been saved to flash button in Mac Talk P6 Last saved external encoder value P7 Last saved SSI encoder value V3 Last saved Encoder position internal magnetic encoder A command of 265 will result in PI Last timestamp in Run Seconds the Follow Error was set P2 Last timestamp in Run Seconds the Output Driver Error was set P3 Last timestamp in Run Seconds the Position Limits Exceeded Error was set P4 Last timestamp in Run Seconds the Low Bus Voltage Error was set P5 Last timestamp in Run Seconds the Over Voltage Error was set P6 Last timestamp in Run Seconds the Temperature Too High Error was set P7 Last timestamp in Run Seconds t
140. In page 96 An input voltage of 5 00 Volts corresponds to a register value of 1023 8 3 39 Analogue In 89 96 Analogue Input 32bit R 0 1023 4 888 Description These eight registers hold the unfiltered analogue value of each of the eight I Os IO I to lO 8 Their values are updated approximately every 182 micro seconds To use the filtered values of the inputs for better noise immunity use registers 81 88 in stead Analogue Filtered page 96 An input voltage of 5 00 Volts corresponds to a register value of 1023 8 3 40 Busvol 97 BUSVOL 32bit R 0 1023 109mV Bus Voltage Description The supply voltage inside the motor is continually measured and stored in this register This value is the basis for the warnings and errors of Low Bus Voltage and Over Voltage 8 3 41 Min_Busvol 98 MIN BUSVOL 32bit 0 1023 109 mV Min Bus Voltage Description Trigger point for under voltage 128 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MIS 34x amp 543 Registers 8 3 42 Encoder Typ ENCODER 32bt R 040 Tooltip on motor 8 3 43 Afzup WriteBits E AFZUP_WriteBits 32bit Special Ia oU Filter Setup screen Description When changing values for the analogue input filter parameters this register is used in combination with registers 102 106 First all of the registers 102 106 must be loaded with the values to be used f
141. Input features e Inputs are TTL to 28VDC compliant e Over current protection and thermal shut down 10 kOhm input resistance galvanic isolation e High speed Pulse direction on Input and Input 2 for gear mode e High speed incremental counter on Input and Input 2 Positive and negative limit can be selected to any input to 8 Zero search input can be selected to any input to 8 e Digital filter can be enabled for each input selectable from 0 to 100 If disabled the response time is 100 Analogue filter can be selected for all analogue inputs JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 5 2 2 Inputs Note that End of travel inputs 1 8 and HM share a Select external ground GND or internal power AI three ground terminals GND and supply to sensors are connected together or similar Power Supply 5 30VDC Inductive sensor or similar User Inputs n pam T This diagram is used if an NPN output is connected Inductive sensor PowerSupply or similar 5 30VDC 2 2 3 General The Controller is equipped with a total of 8 digital inputs Each input can be used for a variety of purposes depending on the actual application Each of the inputs can be detect ed from the actual program that has been downloaded to the Controller or via serial commands Th
142. Integrated Step Motors QuickStep MIS231 MIS232 5234 MIS340 5341 and MIS342 Including Step Motor Controller SMC75 SMC85 User Manual JVL Industri Elektronik A S LB0053 15GB Revised 18 4 2012 Important User Information N Warning N The MIS and SMC series of products are used to control electrical and mechanical components of motion control systems You should test your motion system for safety under all potential conditions Failure to do so can result in damage to equipment and or serious injury to personnel Please contact your nearest JVL representative for technical assistance Your nearest contact can be found on our web site www jvl dk Copyright 1998 2011 JVL Industri Elektronik A S All rights reserved This user manual must not be reproduced in any form without prior written permission of JVL Industri Elektronik A S JVL Industri Elektronik A S reserves the right to make changes to informa tion contained in this manual without prior notice Furthermore JVL Industri Elektronik A S assumes no liability for printing er rors or other omissions or discrepancies in this user manual MacTalk and MotoWare are registered trademarks JVL Industri Elektronik A S Blokken 42 DK 3460 Birkered Denmark 45 45 82 44 40 Fax 45 45 82 55 50 e mail jvi jvl dk Internet http www jvl dk Contents e 10 sh UG ul Un Un n tn e UJ 6 2
143. Integrated Stepper Motors MIS23x 34x 43x 15 1 MiS23x amp SMC75 Registers detailed BOLOZPZLL P9 qesip SI 10119 y 0 XVINYYAM 14 1 SI J04J9 40J49 MOJJO J ui pamoyje unuJiXeuJ 941 151 d uonisod pa1e no e ay MOUS 13 3501 10449 MO JOJ s uondo Jepooue y sjndino y eSueuo 0 U33114M ue sjndino sjndino y Jo 502615 JUBIINI 9u sjndul sjndu y snzeys JUDIINI 941 Jopooue JY eqpesj uonisod y MOUS 5141 15 s uondo y JI uonisod indu jndino sdais sdais jelnads jeloads JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 248 15 1 MIS23x amp SMC75 Registers detailed GT 8 lg YdJeas 0197 4 Mg 8 9 19 2 G 19 uonisod u p 19 I320 9A uonisog 21 ul 7 ug 9A T dig 3215 0 19 uny 5319 513615 Jopooue SS peay LCE 1 SS U 0 JOU op 34591 00 0Z C 19591 pue use Ul 89c JOSOY LOC 9SN JOU op paAJesaM 997 6SZ
144. MC6 amp 5 Registers detailed NET i139 pe1xioddns jou 1nq uonp9440301ny Sajqesip 0192 JO y uonos4109o1ny 0 JO 991 sjuno OOT O M Y payoddns jou p uuejd uon 34402 01ny uonooJ410901nyJou1ny 1 pue q 54635 uonisod 215 941 195 01 1105 d 1snuu uonisod BY 95012 MOY 5129195 58915 L9 7E O M Y peJuno220 seu 1011 ue 4015 ue 10113 UIUM 5 000 0T 000 005 1 M Y wuxpuomsodsuemosamgog 0 Wi WuxpuomsodsuemgossneBay sies 0 Tutti We uondusssg wun amea susp UOHISOd uOnisOd 2eIN JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 270 15 2 MIS34 43 SMIC85 Registers detailed J XX u q seu 9 G 119 3dej OA MO dle seu 319 u q SEY 9AnISOg c 119 T 5 0 1g 8 510 8 2 2906 M Y VqazE 518 p j e so3ouSerp 1195 40449 001
145. Motors MIS23x 34x 43x 159 9 7 Graphic programming command reference 9 7 9 Set outputs Dialogue t Multiple Output Na state Cancel Output 1 Low Output 2 High Output 3 t Low pulse ms a Dutput 4 High pulse Output 5 Output 6 Output 7 Output 8 Output type t Single Outputs Cancel Output 1 Don t Output 2 Don t care Output 3 Don t care Output 4 Don t care Output 5 Don t care Output Don t care Output 7 Don t care E NM NEM NE MEM NE DE Output 8 Don t care Function Sets one or more outputs When setting a single output you can set it to high low or you can specify the length in milliseconds of a pulse to send out on that output When setting multiple outputs you can specify whether to set each output high low or leave it in its current state 160 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 7 Graphic programming command reference 9 7 10 Icon Unconditional jump Dialogue None After selecting this command the mouse cursor changes The next program line that you click on will become the destination for the jump Function 9 7 11 Jumps to another line in the program Conditional jump single input Icon Mi Function JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x t Multiple Cancel Input Inp
146. Nopen is a CAN based higher level protocol The purpose of CANopen is to give an understandable and unique behaviour on the CAN network The CAN network is the hardware level of the system and CANopen is the software level CANopen is based on the communication profile described in 05 301 and specifies all of the basic com munication mechanisms CiA 05 301 contains message types on the lowest software level The DSP 402 CAN open standard defines the device profile and the functional behaviour for servo drive controllers frequency inverters and stepper motors The DSP 402 constitutes a higher software level and it uses the 05 301 communication but makes the device independ ent of the manufacturer Not all VL functionality is available The CANbus with real time capabilities works in accordance with the ISO 1898 stand ard The major performance features and characteristic of the CAN protocol are de scribed below Message oriented protocol The CAN protocol does not exchange data by addressing the recipient of the message but rather marks each transmitted message with a message identifier All nodes in the network check the identifier when they receive a message to see whether it is relevant for them Messages can therefore be accepted by none one several or all participants Prioritisation of messages As the identifier in a message also determines its priority for accessing the bus it is pos sible to specify a correspondin
147. OT S UQ gt OZ 06 s 30 OOT S UQ gt SZT S 4qJ OSZ S 419J 00S s 11q 008 s 310 0001 93eJJ91u 2 pneg y uo pasn 941 snqp esl P 4 uedQue aui uo prepou 859L0 SLvCLL st NOR 19N92I 3Q 67 18 uedQue 8 0 991 suondo y GT 8 pesueoi 10 y ui 9 qieAe 9941 SOUIJOP 0 S gIeAe zey suondo 1euM 1noqe 1 uo dioo sure1uoo J93sIS9J 5141 28 anva sng SESS9 0 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x LIeW wondusseq wun anejoq 3 65 15 2 MISS4 43 SMC6 amp 5 Registers detailed 89109 SWOT si A3120 9A BY 31120 9A Jopooue 1 y JO SUJ peiepdn s 9151892 5141 9T s1uno Htc 5118 40135 5 s 3ndul edA1 SUL ZNI TNI UO 1 Japooue Jepooue y sjunoo 219151892 SIUL Sjuno snqiyoJd z ON 0
148. PE 32bit R 64x Status Bar Description The motor type 64 SMC75 65 MIS23 66 MIS232 67 MIS234 This value is read only and is programmed into the motor during manufacturing 8 3 86 Serial_Number Size Access Range Unit MacTalk name Description The serial number of the motor This value is read only and is programmed into the motor during manufacturing 8 3 87 Checksum Reg ____ Access Range __ Default Unit MacTalk name 154 _ sat Description Firmware checksum This value is read only and is programmed into the motor during firmware update 8 3 88 Hardware Rev as Tooltip on HARDWARE REV 32bit 0 65535 Minor THEE 16384 Description The revision of the hardware This value is read only and is programmed into the motor during manufacturing JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 141 8 3 MIS34x amp MIS4Sx Registers 8 3 89 Max Voltage Reg Name Size Access Range __ Default Unit MacTalk name MAX VOLTAGE 32bit 0 100 Volt Tooltip on Motor Description The maximum allowed voltage on the bus If the bus voltage exceeds this value the mo tor will enter an error state This value is read only and is programmed into the motor during manufacturing It re flects the rating of the hardware components Supplying a higher voltage can damage the elect
149. Pa 1 ite gt Ow ium Coen iit Deve n Acted erate __ J 1 aag Choose to wait until input 5 is high and press OK De Bee in d bo n ab p da a E _ Ree Ces aces Fie FED RUM COP CMT 4 Depe pees Jars rcge MeL OR Fs Pene 3 so we Jl Fere S T The command is inserted at the ED omn um previous selected program line iE Basse T dll COE _ JR Pa ab vean aret TT0983GB y Continued JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 149 9 4 150 How to build a program EE a M Pie eee Some Macfie La w E a a te etnies Pese mes ms HBe map Fe COP arae 5 is leger Adva Fiber pape Feat Lope MACOS Fla jemimi me 8e men ae a tee Press the second button to create gp fal dont Censo acc 1900 PENA the second program line 3 5 A 6 Choose the movement type needed Relative Move x counts forward with an i Vulp reference to the actual position s SAREN 1 Putat vu T Absolute Move to the x position
150. S4Sx Registers 8 3 61 Home Bits Reg Name Size Access Range __ Default Unit MacTalk name HOME BITS 32bit R W Special Advanced Zero Search Description Bit 0 Search for index Bit Change direction on limit Bit 2 Search for opposite side of sensor Bit 3 Use Limit switch as sensor Bit 4 Ignore switch Used for searching only for index Contains configuration bits that define how Zero search homing should be carried out 8 3 62 Setup Bits Sire Access Range Default Unit __ MacTalk name _ Don t start program af ter power up Invert motor direction SETUP BITS 32bit Special External Encoder Enable DSP 402 Support Auto encoder synchronize Description 0 Invert direction Bit not start program after power up Bit 3 2 Select encoder input type 0 Disabled Quadrature 2 Pulse direction Bit 4 Enable DSP 402 support Bit 5 Synchronize to encoder after passive These individual bits are used to control various functions in the firmware 8 3 63 lOsetup IOSETUP 32bit RW f Inputs Outputs Description This register controls the eight IO to Ol 8 These pins can be used either in input mode as combined digital and analogue inputs or used in output mode as digital out puts The lowest eight bits in this register can be used to individually invert the active lev el of the digital inputs The highest eight bits are used to select the corresponding pin as an o
151. Taiwan leverandgr TECO men producered p TECO fabrik Kina M1 M12 connector WO PG16 and no cable W1 PG16 and 2m cable Special connector side mount 8 Lead wire l ngde 300 mm M4 8 Lead wire laengde 400 mm L3 4 Lead wire laengde 300 mm 14 4 Lead wire l ngde 400 mm AA No magnetic chip Only specified if more to follow H2 Magnetic encoder feedback 256x4 pulses rev Only SMC75 SMC85 MIS23x and MIS34x E1 Incremental encoder 500 ppr with index puls HEDS series 4 6 Ampere phase 0 6 Ampere phase 3 0 Ampere phase 2 0 Ampere phase 9 0 Ampere phase PA Planet gear model A 36mm 36JX30K til Nema23 PB Planet gear model B TA Toothwheel gear WA Wormgear 5 18 udveksling 22 1 3 m1 20 5 18 Examples Husk mellem rum ikke brugt MST 176 A 16 3 L3 AA 3 0 Stepmotor NEMA23 with housing JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 297 298 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 16 CE Declaration of Conformity EU Declaration of Conformity Manufacturer Company Name Address Telephone E mail Web Hereby declare that Product is in conformity with JVL Industri Elektronik A S Blokken 42 DK 3460 Birkered Denmark 45 45 82 44 40 jvl jvl dk www jvl dk MIS231 232 and 234 Integrated Hybrid stepper motor Series from Al to A6 incl subv
152. The time interval of the SYNC telegram is set using the object Communication Cycle period 1006h In order to obtain a precise accurate cycle between the SYNC signals the SYNC telegram is sent with a high priority identifier This can be modified using the object 1005h The SYNC transfer applies the producer consumer push model and is non confirmed SYNC Producer SYNC Consumers Request gt 9 Indication TT1091GB The SYNC does not carry any data L 0 The identifier of the SYNC object is located at object 005h 208 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 6 10 6 6 IMore details of CANOpen Theory NMT Network Management services The Network Management is structured according to nodes and follows a master slave structure NMT objects are used for executing NMT services Through NMT services nodes are initialised started monitored reset or stopped All nodes are regarded as NMT slaves An NMT slave is uniquely identified in the network by its Node ID NMT requires that one device in the network fulfils the function of the NMT master The NMT master controls the state of the NMT slaves The state attribute is one of the values Stopped Pre operational Operational Initialising The module control services can be performed with a certain node or with all nodes simultaneously The NMT master con trols its own NMT state machine via local services which are implementa
153. VL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 137 8 3 MIS34x amp MIS4Sx Registers 8 3 75 Acceptance voltage BEES CUN INNEN Acceptance Description Acceptance Voltage selects the voltage threshold that defines when the power supply is ready to use for erasing the used flash memory sector after power up The scaling unit is as follows 1023 111 4V this is of cause a theoretical value and will greatly depends on which input that is used setup using register 42 Due to the HW variation on inputs different threshold values must be used The follow ing table will indicate which values to be used in combination with which input that is used For IOI IO8 Filtered or non filtered an analogue voltage of 0 5V is sampled Anything above this will result in a 5V reading IOI IO8 5V 1023 Counts For Bus voltage and the CVI selection the scaling is as follows 1023 I 11 2V in theory so 48V 441 6 approximately due to component tolerances etc Please observe that measurements are only available from HW Rev 1 7 and up The HW rev can be observed in the tooltip over the motor displayed in Mac Talk 8 3 76 Acceptance count 140 Acceptance Count 32bit 32bit 10000 Pa Acceptance Count Description Acceptance Count selects the number of times the Acceptance Voltage must be meas ured after power up before the flash erase operation is started When using values 1 8 or 12 for
154. _ R _ 4MEmV NA s swvo R owes __ 109mv Bsvoap ___ ZINENE X ee AFZUP_WriteBits 16bit Special pom handled on the Filter Setup screen N A handled on the 16bit R W Special Filter Setup screen AFZUP Conf Min 16bit UM 0 1022 4 888 Confidence Min AFZUP Conf Max 16bit 1 1023 1023 4 888 mV Confidence Max AFZUP_ Max Slope 16bit 2 1023 1023 4 888 mV Max Slope th AFZUP Filter 16bit 64 of new Filter on the Filter sample setup screen e Y AFZUP Read Index FilterStatus 16bit 0 65535 N A shown signal Bit mask Direction signal Pulse Direction mode Settling time between retries 110 Settling Time 16bit R W 0 32676 2 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MiS23x Registers a ee 1177 112 amp ws Rw a HOME BITS 16bit M Pee Zero A LN start program after power up Invert motor direc tion SETUP BITS 16bit Special External Encoder Enable DSP 402 Support Auto encoder synchronize TURNTABLE Dedicated Inputs NL MASK 16bit Mask Negative Limit In put Dedicated Inputs 132 HOME_MASK 16bit R W IO Mask Dedicated inputs Home Input 133 s INPUT FILTER digital input ees
155. __ Data Inputs Motorerror Res Res Res Res Object 2014h sub 18 20141 sub35_ Lo 10 4 7 Beckhoff support The SMC75 supports running CAN with Beckhoff PLC In this mode 4 receive and transmit PDO s are enabled from startup and are configured as 1 4 ID 0x800000xxx NOT ENABLED 10 0x000000xxx ENABLED 10 4 8 PDO setup in Beckhoff mode Normally each selected PDO needs to be enabled after power up and initialization but in Beckhoff mode 1 4 is automatically enabled at power up The 2 dynamic registers are put into PDO4 Default the 6 bit register is set to 35 motor error and the 32 bit register is set to 170 external encoder To setup and use the Beckhoff mode enable the Beckhoff support from MacTalk and press the Save in flash button V Fieldbus interface Made ID x CanUpen Baud rate FOO kbit s Enable DSF 402 Support gt Use Beckhoff configuration 122676 192 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 4 Objects in the DS301 standard 10 4 9 Beckhoff receive PDO setup The table below shows default values of the COB ID Access Type Description LN 1 1 Receive COB ID Nodeid 0x00000200 1 Reeve COBID Noaeiaroroooooaoo 1 f rens cos Nodeiaox00000360 4 1 Rec
156. a maximum before the slave initiates a Life Guarding event is defined using the Life time factor object The Node Life Time is calculated from the product of the Guard Time and Life Time Fac tor This is the maximum time that the slave waits for an RTR telegram The figure below shows a Node Guarding Life Guarding protocol 210 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 6 details of CANOpen Theory COB ID 700 Node ID Request Remote transmit request Indication Response COB ID 700h Node ID Request Remote transmit request Indication Confirmation 7 m Response Node Guarding event Life Guarding event e Indication Indication TT1083GB Where s is the state of the NMT slave NNT state 5 5 Operational Pre operational t is the toggle bit It alternates between 2 consecutive responses from the NMT Slave The value of the toggle bit of the first response after the guarding protocol becomes ac tive is O The Toggle Bit in the guarding protocol is only reset to 0 when the NMT message Reset Communication is passed no other change of state resets the toggle bit If a response is received with the same value of the toggle bit as in the preceding re sponse then the new response is handled as if it was not received Heartbeat With the Heartbeat protocol a Heartbeat Producer cyclically sends its comm
157. able length and the wire cross section The table below gives some recommendations for networks with less than 64 nodes Recommended bus cable cross sections are according to CIA BusDistance Cross sec Terminator Baud rate m tion mm Ohms Kbit s The bus wires may be routed in parallel twisted and or shielded depending on EMC re quirements The layout of the wiring should be as close as possible to a single line struc ture in order to minimize reflections The cable stubs for connection of the bus node must be as short as possible especially at high bit rates The cable shielding in the housing must have a large contact area For a drop cable a wire cross section of 0 25 to 0 34 mm would be an appropriate choice in many cases For bus lengths greater than km a bridge or repeater device is recommended Galvanic isolation between the bus nodes is optional Necessary accessories for SIMC75 Controller The EDS file for the SMC75 is available for download at JVL s web site http www jvl dk under the downloads menu Field bus Interface Specifications Files EDS means Electronic Data Sheet This file contains the information about SMC75 settings that are required to configure the setup and program in the master The SMC75 is a slave module on the CAN bus The master can for example be a PLC or a PC If you are using a PLC as master then make sure it is provided with a CANopen commu nications module and that the co
158. ailed It will continue until the encoder position is within the target win dow or the selected number of retries has expired Note that AutoCorrection will only start after the value of the SOLL register is changed In other words changing P SOLL not just writing the same value again will reload the maximum number of retries and set the Auto Correction Active status bit The Auto Correction Active status bit will remain set until either the position is within the target window or the max number of retries has been exhausted Also note that if the motor is used to control other motors by sending out the pulse and direction signals on digital outputs any extra movements caused by AutoCorrection will send out additional steps to the other motors Registers affected e Register 33 IN POSITION WINDOW specifies how many steps from the target position the encoder must report before AutoCorrection is attempted e Register 34 IN POSITION COUNT specifies the maximum number of retries A value of 0 zero effectively disables AutoCorrection e Register 110 SETTLING TIME specifies the number of milli seconds to wait after a movement before testing the encoder position against IN POSITION WINDOW In the present firmware versions SETTLING TIME will be used in AutoCorrection mode only e Register 25 STATUSBITS will still set bit 4 after the pulse generator has output all the pulses to reach the target position a theoretical In Position I
159. ajor step forward All the necessary electronics in a stepper system are in tegrated in the motor itself In the past a traditional motor system has typically been based on a central controller unit located remote from the motor This configuration however has the disad vantage that installation costs are a major part of the to tal expense of building machinery The basic idea of the QuickStep motors is to minimize these costs but also to make a component that is much better protected against electrical noise which can bea typical problem when using long cables between the controller and motor The stepper motor encoder and electronics are spe cially developed by JVL so that together they form a closed unit in which the power driver and controller are mounted inside the motor The advantages of this solution are e De central intelligence Simple installation No cables between motor and driver EMC safe Switching noise remains within motor Noise can however be introduced in the DI DO Compact Does not take space in cabinet Low cost alternative to separate step or servo motor and driver In the past decade pulse direction interfaces have be come increasingly popular for the control of step and servo motors This is due to the fact that pulse direction signals provide a simple and reliable interface which is 100 digital precise and offers immediate response When a pulse is sent the motor instantane
160. alogue Made Command Passive OK Velocity NOF Cancel Reset error f Position P_SOLL 0 and IM POS 0 P_IST 0 Command P_FNC 0 and IN_POS 0 V SOLL 0 amp nii n Function If Mode is set to Command the motor does not necessarily change mode but it can be commanded to carry out a series of predetermined operations Describing all of the FastMAC commands is beyond the scope of this section but for example using a single command it is possible to activate four different sets of registers each controlling position velocity acceleration torque load factor and in position window For further details refer to section 4 5 7 of the MAC user manual 9 7 24 Binary command Icon Dialogue Enter binary code Binary cade Function MacTalk SMC75 programs sent to the motor in a compact binary format which is then interpreted by the SMC75 s firmware The existing set of graphic commands covers most situations but when special needs arise anything that can be done with SMC75 programs can be done with a binary command If special needs arise that are not covered by the other commands contact JVL for assistance JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 169 9 7 Graphic programming command reference 9 7 25 Calculator basic Dialogue Velocity Reg 5 Velocity Reg 5 1 69 Velocity Reg 5
161. also set using MacTalk and is located in register 163 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 79 10 2 Connection and setup of the CAN bus 10 2 5 Bus termination In order to guarantee correct operation of the CAN bus bus terminating resistors must be provided at both ends of the bus cable CAN bus connectors The SMC75 does not use 9 pin D sub connectors and none of the cables JVL supplies are provided with a 9 pin D sub connector but the PIN configuration is also shown in the table below Description smes nsu RE SS ____ P5 Optional CAN ext supply The figure below shows the 9 pin D sub and 5 pin style connectors 5 pin style connector 9 pin D sub connector 12345 5 3 o o 2 6789 9876 front view Female front view Male front view Female front view TTIO96GB 180 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 2 Connection and setup of the CAN bus 10 2 6 SIVIC75 connectors rear plate layout The MIS motors offer IP67 protection and MI2 connectors which make them ideal for automation applications where no additional protection is desired The 12 connectors offer solid mechanical protection and are easy to unplug The connector layout PWR Power input M12 5 pin male connector Main supply 12 48VD
162. alue Use Initiates a zero search to a sensor Use Send a FastMac commandto the motor FastMac commands can be used to send complex instructions very quickly Use When a remark Comment must be inserted in the program Select command E S H e Enter your own remarks Move operations Unconditional jump Wait for ms before continuing Set a register in the MAC motor Wait for a register value before continuing Zero search Send FastMAC command Calculator Use Performs a calculation using constants and register values and stores the result in a motor register Use Set the motor in the desired mode such as position or velocity mode EJ Set operation mode Set outputs Conditional jump Wait for an input combination before continuing Jump according to a register in the MAC motor Save position Set position 4 Binary command Jump according to a comparison TT2222GB Use Conditional Jump according to a comparison between the values of two registers Use Set a certain state at one or multiple digital outputs Use Conditional jump from one program line to another Input dependent Use Wait for a certain state at one or multiple digital inputs Use Conditional jump from one program line to another Register dependent Use Save the actual motor position to an intermediate register Use Pre
163. ameters are only available when the CanOpen option is installed and only used for DSP 402 Size Access Range Default Unit Description 180 T ContolWor 32b Rw 06555 o Object 6040 subindexO s t R 085535 fo Object 6047 subindex 0 182 Mode Of Operation 32b RW 0 255 o Object6060subindex0 Speen 32bit La 0 255 Object 6061 subindex 0 p 251 Target Position 32bit Object 607A subindex 0 31 231 Actual Position 32bit mm I Object 6064 subindex 0 pr 29 Target Velocity 32bit Object GOFF subindex 0 em 291 Actual Velocity 32bit Object 606C subindex 0 Object 60FE subindex 1 Digital Outputs 32bit RW 65535 lo e Low 16bit Object 60FD subindex 1 ice sai 95595 0 116 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 534 amp 543 Registers 8 3 2 Prog Vers MacTalk Range name Major 16 Description The firmware version The Bit 14 is set to indicate that the type is SMC75 Bit 0 3 is the minor version and bit 4 7 is the major version Example The firmware version 1 7 will have the value 0x4017 16407 8 3 3 Mode Reg 1 Size Access Range __ Default Unit MacTalk 0 1 2 3 11 Description Controls the operating mode of the motor The following modes can be selected 0 Passive Veloc
164. ar emors Reset motcee Filter setup STOP Motor scan Man Regler Fite Tests Scope Startup mode Passive lv Change actual mode C Ansoqgue velocity beth desdband C Ansoque velocty gear C Melocty ansiogue torque C Ansoque torque direct C Analogue to position Q Eno handing Follow eno Function emor Position limit min max Enot V Ireti Outputs 7 Ivet Output 1 01 D drei Outpet 2 02 1 0 Type Serial Dats x edes Status Motor status fv fv fv Go Online Fe Funchon care Actual molor torque Moter lnad mean 4 Regenesaeve Ind 1 Input Supply vollage 29 3 Vols Analogue U 28 Vols Errore Profile date V cero seach Max velocty 2000 2000 RPM Zein mode Ditsbled sea 100 RPMS Usemndex aller seach xo f Zero search poston 0 Courts Load 1 0o Und Y Motion pararet Zero search torque 73 mm eme Presticn 0 70000 Counts Y Underveltage handing Min volt 15 Vor in postion window 100 Courts fv Undereokage gt Set enor b fv Undereoltage gt Go to passive Invert motor direction Undervolage gt Set velocity to 0 Regrcrorize position aller passive mode Comenurecetion addiecs 29 In posiron court 3 Working offline Press the Online button to re establish communication with motor As seen in the bottom info line the mo
165. arning bits Bit 0 Positive limit active This bit will be set as long as the positive limit is active Bit Negative limit active This bit will be set as long as the negative limit is active Bit 2 Positive limit has been active Bit 3 Negative limit has been active Bit 4 Low bus voltage Bit 5 Reserved Bit 6 Temperature has been above 80 These bits provide information on both the actual state and remembered state of the end position limits the supply voltage and the temperature These are used for diagnostic purposes as well as handling position limit stops also after the motor may have left the end position mechanically 8 2 28 Start mode 37 STARTMODE foit RW ___ _ L Starup Mode Description The motor will switch to this mode after power up This is also the mode that is used when a zero search has been completed See Mode Reg page 85 for a list of possible modes 8 2 29 P Home Reg Name Size Access Range __ Default Unit MacTalk name _ P HOME 32bit 291 9314 0 Steps _ Zero Search Position Description The zero point found is offset with this value 8 2 30 V Home 4 V HOME 16bit 1023 1023 Zero Search Velocity Description The velocity used during zero search Set a negative velocity to search in the negative direction JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 93 3 2 MIS23x Registers 8 2 31 Home mode 42 HOMEMODE 16
166. ase observe that this is not working with DSP402 Example Register 33 5 will transfer register 5 V IST actual velocity 6bit value in PDO22 or 4 104 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MIS23x Registers 8 2 71 Input_Filter_Mask a eae ae CUN 1 FILTER digital input Description This register controls filtering of each of the eight pins that are used as digital inputs If the bit corresponding to the input number is set in this register the input value will be filtered to a new logical level is only accepted after that level has been measured on the hardware pin for the number of milliseconds specified in register 36 If the bit is not set the input will be updated directly from the hardware value every 100 microseconds Please read the section on Digital Input filters in this manual 8 2 72 Input Filter Cnt CE ee ee NN FILTER Description The filtering of all of the eight digital inputs is controlled by the value in this register together with register 35 The input must be sampled at the same value for the specified number of milliseconds in this register to be accepted as the new filtered value See also the section on Digital Input Filters in this manual 8 2 73 Inpos_Mask Reg Name Size Access Range __ Default Unit MacTalk name Dedicated Outputs Description Selects which one of the eight pins to use
167. ation resistors high quality cables where each wire is shielded from the other wires in the cable should be used This is typically done using a metal foil wrapped around each wire These types of cables are more expensive but the overall cost and noise immunity requirements may justify the solution instead of splitting cables Use simple shielding Using cables with only a single shield shared by all the signal wires will also improve noise problems to some degree but will not guarantee completely stable operation for mixed signal cables If a cable carries only RS 485 or only digital I O this simple and inexpensive form of shielding is recommended JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3l 2 10 1 Connector overview for the MIS23x MIS23x zN2yy75 MIS23xAZNMByy75 MIS23x zMMyy75 RS485 serial communication RS485 serial communication in RS485 serial communication and few local network Up to 32 MAC and QuickStep and many local I O on the same network Few local I O MIS23xAzM5yy75 MIS23xAzM6yy75 MIS23xAzZMByy75 RS485 serial communication in MIS23xAZM7yy75 RS485 SSI encoder Few local I O network Up to 32 MAC and QuickStep RS485 and CANopen Devicenet on the same network Many operation Many local IO 1 05 8 8 RS485 8 1 05 8 CAN 01 4 1 4 amp RS485 RS485 TT2259GB PWR 5 pin male RS485 5 pin female CAN 5 pin male 1 4 8 pin female 5 8 8
168. be seen the supply voltage have a significant influence at the torque performance at higher speeds Please make sure to use a supply voltage which is appropriate for the actual application Also make sure that the supply voltage is stable without to much ripple since voltage dips can cause the motor to stall and loose position MIS231 232 amp 234 motor torque versus speed and supply voltage Torque Nm Torque oz in 3 5 Power supply PSU24 240 24V 240W regulated PSU Power supply PSU48 240 48V 240W regulated PSU Room temperature 20 C MIS234 48V MIS234 24V MIS232 48V MIS232 24V MIS231 48V 5231 24V Speed RPM MIS340 341 amp 342 motor torque versus speed and supply voltage Torque Nm Torque oz in HE 1100 Power supply PSU24 240 24V 240W regulated PSU Power supply PSU80 4 80V 400W unregulated PSU 1000 Room temperature 20 900 e MIS342 80V 800 e MIS342 24V 700 MIS341 80V MIS341 24V 600 15340 80V 15340 24 500 400 300 200 100 Speed RPM 122236 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 229 Only MIS23x Imensions MIS231 MIS232 and MIS234 291JI OU SI 19430 ui
169. bit 0 13 14 1 Zero Search Mode Description Selects the zero search that should start on power up A value of 13 will use sensor type while a value of 14 will use sensor type 2 8 2 32 Absolute encoder position eee Description This is the absolute magnetic encoder position this is only a singlet urn value and the resolution is Obit That is 360 degree 1023 count approximately 0 35 degree 8 2 33 SSI encoder value 77 00 Description This is the actual encoder position data received from the external SSI encoder This value is typically gray coded The firmware offers the possibility to do the Gray conversion but requires that some RxP programming is done as this feature is only available as RxP program command Example An SSI encoder is chosen using 25 bit data We want to sample and convert the 551 data value from register 47 and put the convert ed value into Register 61 P2 To get the actual value from the SSI encoder we use a special command 321 The new data is placed in register 47 Now we want to convert the data from Gray code to con ventional binary format To do this we use a Binary command instruction The command is OxOC 124 From register Ox2F 47d To register Ox3D 619 25bits 0 19 25d Get the actual value from b Set Special Command to 321 the SSI encoder T 8 Binary command 0x0C 0x3D 0x18 lt Convert from binary TT226
170. connectorboard and no housing Only PCB With Devicenet M1 M12 1pcs M2 M122 pcs M123 pcs M4 M123 pcs M5 M12 4 pcs M6 M12 4 pcs M7 M12 4 pcs M8 M12 4 pcs M9 M12 4 pcs MA M123 pcs MB M12 4 pcs MC M123 pcs MD M123 pcs R1 Radial con R2 Radial con C1 2 pcs PG1 C2 2pcs PG1 C3 2pcs PG1 Spin male SMD73 pulse direction driver 5 pin male power 8 pin fernale RS485 4IOA SMC75 5 pin male power 8 pin fernale RS485 IOA 1 4 5 pin female RS485 SMC75 5 pin male power 8 pin RS485 IOA 1 4 8 pin female 5V serial IOA5 8 SMC75 5 pin male power 8 pin fernale RS485 IOA 1 4 5 pin female RS465 8 pin female 5V serial 5 8 SMC75 CANopen 5 pin male power 8 pin female RS485 IOA 1 4 8 pin female 5V serial IOA 5 8 5 pn male CAN SMC75 DeviceNet 5 pin male power 8 pin female RS485 1 4 8 pin female 5V serial IOA 5 8 5 pin male DEVICE SMC75 SSI CANopen 5 pin male power 8 pin female RS485 IOA 1 4 8 pin male IOA 5 6 5 pin male CANOpen SMC75 SSI 5 pin male power 8 pin female RS485 IOA 1 4 8 pin male SSI IOA 5 6 5 pin female RS485 SMC75 5 pin male power 8 pin fernale RS485 IOA 1 4 5 pin male CAN SMC75 5 pin male power 8 pin fernale RS485 IOA 1 4 5 pin male CAN 5 pin female CAN SMC75 3m power cable PG12 8 pin female RS485 IOA 1 4 5 pin male CAN 5 pin female CAN 5 75 3m power cable PG12
171. crements Position encoder resolution 608F 2 UNSIGNED32 Motor revolutions 1 1 Velocity_encoder_resolution 6090 UNSIGNED8 1 1 2 Velocity_encoder_resolution_ 6090 UNSIGNED32 Encoder increments per second Velocity encoder resolution 6090 2 UNSIGNED32 Motor revolutions per second 80 o UNSIGNED8 Gear ratio Motor revolutions 6091 1 UNSIGNED32 Gear ratio Shaft revolutions 6091 UNSIGNED32 Feed constant 6092 o UNSIGNED8 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 197 10 5 Objects used in the DSP 402 standard m Hee mg hex only Feed comtantFeed 62 1 UNSIONED2 _ Feed constant Shaf revoluions 6092 2 UNSIGNED32 f Position factor e UNSIONDS x 2 Position factor Numerator 6093 1 UNSIONED32 Position factor Feed constant 6093 2 UNSIGNED32 J Velocity encoder factor 6094 o UNSINEDS X 2 Velocity encoder factor Numerator 6094 1 UNSIGNEDs2 Velocity encoder factor Divisor 6094 2 UNSIGNEDs2 Acceleration fasor 67 o UNSINEDS X 2 Acceleration factor Numerator 6097 1 UNSIOND32 Acceleration factor Divisor 607 2 UNSIONDi2 Polarity eoe 0 UNSIGNEDS 10 5 2 Factors Position factor The position factor is the relation between the user unit and the internal position unit steps The position factor is automatically calculated when
172. d Default Unit MacTalk name LC 256 Description Used to issue commands to the motor 0 128 are the normal FastMac commands The values 128 255 are reserved Command 256 will activate a new baud rate on the serial ports and command 257 will synchronize the internal encoder position to the actual motor position 8 2 21 Status bits 25 STATUSBITS 16bit R _____ Special Run Status Description Status bits Bit 0 Reserved Bit AutoCorrection Active Bit 2 In Physical Position Bit 3 At velocity Bit4 In position Bit 5 Accelerating Decelerating Bit 7 Zero search done Bit 8 15 Reserved Actual run status bits for the motor 8 2 22 Temp Sie Access Range Default Unt MacTalk name TEMP 16bit 0 127 2 21 USES Temperature offset Description Temperature measured inside the motor electronics The approximate temperature in degrees Celsius is calculated from the value in this reg ister using the formula Tc 2 27 Value 8 2 23 Min_P_IST Reg Name Size Access Range Default Unit MacTalk name Description Position limit for movement in the negative direction The motor can be configured to stop automatically when it reaches this position JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 8 2 24 Max_P_IST Reg Name Size Access Range __ Default Unit MacTalk name MIS 3x Regist
173. d uu sRej ssuv 15 2 MIS34 43 SMUC895 Registers detailed JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 272 15 2 MISS4 43 SMC85 Registers detailed 2072 pesn pue paidoo uaaq UIUM 39S g 539451892 1911 4 pue edo sxe wN 5 U39J23S y JO 1u9JJno dn 5 493 14 941 y esn sindui sug uo pejpueu Y N YIYM JO seunig 0 518 2 2905 M Y dNZAV edeyo snqui Japun Jojyulod AWSZS IZ 60 0 1 NIN SEUEN _ Ausesoc Se0vO _ _10 5 8 G60t 40 e SI AS 801 V N uo 941 AUTZCT 60 0 andujSojeuy 2 payoddns jou 1nq peuue d G60t 10 e SI AS SJ919uueJed 1 1 40J SJ91SI89J dNZJY 1 1 dioo 39S 9JeMUJJIJ Ul 1 paJ423 J V N 2 8 0 T 51 eSeyo AU S60t 0 HAZE sojeuy UL u 5 5 518 1uaJJno UNY 8 G TTS EEST O M Y HAZE uL IV 14 1518 1 uon eJ9 922V y 5 mE 000 00S T M Y uy UA 1915 18 4
174. d purposes They all have effect regardless of which mode of operation the motor is set to use Follow error Only for MIS with internal encoder Follow error is the difference between the target position and the encoder position The target position is the position generated Default is 0 Function disabled Position limit min and max Same as physical limit switches but implemented in software Default is 0 meaning that the feature is disabled If one parameter is different from 0 both values are activated Error acceleration If a fatal error occurs it can be convenient to use a controlled deceleration instead of a sudden stop If the inertia in the system is high and the mechanical parts are weak a sud den stop can cause damage and unintended behaviour Use this parameter to define the deceleration used during a fatal error Default is 0 meaning that the feature is disabled Min bus voltage This is the level of P at which the motor goes into error state low bus voltage JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 77 78 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Registers JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 79 8 1 80 Introduction to registers All of the motor registers can be accessed either through the RS485 interface or over CANopen When accessing registers over CANope
175. d on the harddisc or floppy E bs disc Please be aware that when i x Save Saveinflash Reset position Clear errors Reset motor Filter setup STOP Motor saving the program it is the complete E xt i program including the overall setup Main Registers Advanced Filter parameters Tests Scope MACOO RxP of the motor such as servofilter I O MACOO Ax Programmable setup etc Everything is stored in a file Transfer amp Stat start Stop d SingleStep Cee an Eos Status Paused with the extension MAC Later it can be opened and restored in the motor 4 Set output 1 high 5 Jump to 1 1 Wait until input 5 high 2 Move Reel dist 10000 Counts acc 1500 RPM s vel 2000 RPM 3 Wait 500 ms 4 Set output 1 high 5 Jump to 1 TT0985GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 151 9 5 General programming hints When programming and saving programs the following hints may be useful to ensure that the program behaves as expected When transferring the program to the module it is saved permanently in memory and the program will be executed each time the motor is switched on 2 Before beginning to program ensure that the basic parameters for controlling accel eration torque safety limits etc are set to proper values When saving the program on the hard disk or to floppy disc all of these basic parameter se
176. d or written via the network The drives profile uses entries from 6000h to 9FFFh to describe the drive parameters and the drive functionality Within this range up to 8 devices can be described In such a case the devices are denominated Mul ti Device Modules Multi Device Modules are composed of up to 8 device profile seg ments Using this feature it is possible to build devices with multiple functionality The different device profile entries are shifted with 800h A l6 bit index is used to address all entries within the object dictionary In the case of a simple variable this index references the value of the variable directly In the case of re cords and arrays however the index addresses the whole data structure To allow indi vidual elements of structures of data to be accessed via the network a sub index has been defined For single object dictionary entries such as Unsigned8 Boolean Integer32 the value of the sub index is always zero For complex object dictionary entries such as arrays or records with multiple data fields the sub index refers to fields within a data structure pointed to by the main index Index counting starts with one The DS 30lstandard constitutes the application and the communications profile for a CANopen bus and is the interface between the devices and the CAN bus It defines the standard for common data and parameter exchange between other bus devices and it controls and monitors the devices in the network
177. d to the power supply It should be mounted as close as possible to the motor Similarly it is recommended that 0 75mm cable is used to connect the power supply to the Controller If the Controller supply voltage falls below OV the internal reset circuitry will reset the driver Provision should therefore be made to ensure that the supply volt age is always maintained at a minimum of 12 even in the event of a mains voltage drop The Controller is protected against incorrect polarity connection but not over voltage Warning Power supply voltage higher than 50VDC will cause damages JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 1 Power Supply Only MIS23x 2 1 3 Control Voltage CVI only MIS2S3x motors The control voltage should be in the rangel2 28VDC and is used to supply the micro processor circuit and the user output driver This input is used as supply to the microprocessor encoder and output driver To ensure that position and parameters are maintained after an emergency stop the control voltage should be maintained under the emergency stop Warning Control voltage higher than 30VDC will damage the controller Control circuit supply current CVI versus voltage mADC 200 150 100 50 0 10 2325 01 2 1 4 Power Supply Grounding It is recommended that the housing is connected to ground or common 0 VDC The overall earthing of the system must be done at a
178. data CCS Client command specified SCS Server commander specified Transfer type 0 7 normal transfer Te expedited transfer Transfer type 07 normal transfer 1 expedited transfer Indication Response Size indica tor O data set size is not indicat ed 1 data set size is indicated Size indica tor O data set size is not indicat ed 1 data set size is indicated Multiplexer It repre sents the index sub index of the data to be transfer by the SDO Multiplexer It repre sents the index sub index of the data to be transfer by the SDO JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 6 IMore details of CANOpen Theory Table for upload and download SDO protocol continued a X Resened __ e 0 s 0 d is reserved for further use e 0 s 1 d contains the number of bytes to be downloaded Byte 4 contains the Isb and byte 7 contains the not used Reserved for further msb always 0 use always 0 e 1 s 1 d contains the data of length 4 n to be download ed the encoding depends on the type of the data referenced by index and sub index Download e 0 s 0 d is reserved for further use e 0 s 1 d contains the number of bytes to be uploaded Byte 4 contains the Isb and byte 7 contains the msb e 1 s 1 d contains the data of length 4 n to be uploaded the encoding depends on the type of the data ref erenced by i
179. der option is installed this register shows the position feedback from the encoder This value is initialized to zero at power up and modified by the firmware when a zero search is performed The value can be used internally by the AutoCorrec tion system to retry a movement in position and gear modes JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 121 8 3 MISS4x amp MIS4Sx Registers 8 3 16 Inputs INPUTS 32bit R o Special Inputs Description This register shows the status of the digital inputs Bit 0 7 shows whether IO 1 8 is active or inactive The active level can be set using IOSETUP See Osetup page 102 Bits 8 15 are not used and will always be 0 The inputs can be filtered or unfiltered See Input Filter Mask page 105 Note that all of the inputs have a digital state and an analogue value at the same time This register shows their digital state only Note that the digital inputs can be filtered by set ting bits in register 135 Input Filter Mask page 105 Be 7 _ 6 5 4 hB J J lI J Function 108 _ 107 IO6 105 104 IO3 102 8 3 17 Outputs 19 OUTPUTS 32bit RW Special Outputs Description This register shows the status of the outputs Bit 0 7 shows whether IO 1 8 is active or inactive The active level can be set using IOSETUP See Osetup page 102 Please note that the output driver for each output also has to be enabled This is al
180. different steps Confidence check First the raw input value is compared to two Confidence limits Confidence Min and Confidence Max If the new value is either smaller than the Confidence Min limit or larger then the Confidence Max limit it is simply discarded not used at all and the value in its associated register is unchanged This is done to eliminate noise spikes Confidence limits can only be used if not all of the measurement range is used Values of 0 for Confidence Min and 1023 for Confidence Max will effectively disable the confidence limits Slope limitation After a new sample has passed the Confidence limit checks its value is compared with the last filtered value in its associated register If the difference between the old and the new value is larger than the Max Slope Limit the new value is modified to be exactly the old value plus or minus the Max Slope Limit This limits the speed of change on the signal Since the samples come at fixed intervals of 10 mS it is easy to determine the number of Volts per millisecond A value of 1023 will effectively disable slope limitation Filtering After a new sample has both passed the confidence limits checks and has been validated with respect to the slope limitation it is combined with the last filtered value by taking a part of the new sample and a part of the old filtered value adding them together and writing the result back to the final destination register one of the register
181. digital inputs are sampled every 100 uS micro seconds Filtered digital inputs are sampled every milli second and the filter value can be set in the range 0100 mS so the filtered input must be sampled to have the same logical value for that number of samples in a row Once an input has changed state after passing the filtering it will again take the same number of samples of the opposite logical level to change it back For example if the filter is set to 5 mS and the start value is O zero the input will remain at zero until three samples in succession have been read as one If the signal immediately drops down to 0 again it will take three samples of zero in suc cession before the register bit gets set to zero Note that filtering of the digital inputs does load the micro controller so if filtering of the digital inputs is not needed ALL the inputs can be selected as high speed to reduce the load JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x e 3 2 3 1 Analogue Inputs CONNU 3 E PC card or Note screen only Potentiometer dd aad Source Analogue inputs 0 5VDC Input Ground JM cr f Y 0 5V Out Sereen Out 1 The 0 5V Analogue Inputs are used for example when the Controller is operated as a stand alone unit In this kind of application it can be an advantage to use a potentiometer joystick or other device for ad
182. ducer Consumer model whereby a normal PDO con nection follows the Push model and an RTR connection the Pull model Objects are mapped in a PDO This mapping is an agreement between the sender and receiver regarding which object is located at which position in the PDO This means that the sender knows at which position in the PDO it should write data and the receiver knows where it should transfer the data to that is received The PDOs correspond to entries in the Device Object Dictionary and provide the inter face to the application objects Data type and mapping of application objects into a PDO are determined by a corresponding PDO mapping structure within the Device object Dictionary The number and length of PDOs of a device are application specific and must be specified within the device profile Write PDO service The Write PDO service is unacknowledged A PDO producer sends its PDO to the PDO consumer There can be 0 or more consumers in the network For receive PDOs the SMC75 Controller is the consumer and for Transmit PDOs the producer The following figure shows a Write PDO service PDO Producer PDO Consumers Request 0 Proces data TT 1086GB 204 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 6 10 6 4 IMore details of CANOpen Theory Read PDO service The read PDO service is an acknowledged service One of the several PDO consumers send an RTR message to the
183. e 19p02u3 59 9943 5521 sjuno COT O 1491 dnsamod 41635 pynous YdJeas 0197 JEY Q5Jeess 0J2z 9Y 129195 vitro M Y Hq9r y Ul 01 A31120 9A e 196 21295 Aj20 9A 0197 oJez Suunp 0 941 COLI ECOI M Y 1997 uonisod en eA 5143 YUM M Y HACE 0297 19590 51 u10d 7 94 S9pouJ jq ssod jo 15 e 10 T 8921 534 JGOW 995 pe1e duuoo si oJaz e Jaye pasn si jeu y osje s SIU Jaye dnyeys SIU 0 IM JOJOW 94 M Y WO9T Ja yje 12e N estu sso vn NN ss JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 252 15 1 MIS23x amp SMC795 Registers detailed Lovell 1 12 5 dnjas 193114 993 JO v N 0JOW 001 SNq sng V N V N UL 1u2344n2 2 A3120 9A 2eIA pesn pue paidoo UIUM 195 GT 13 S491sI89J 19114 pue adojsxe xe A UIJAJUO y JO qu9J4no 991 SN JEU s ndu y JO YDIUM seunig 0 518 jelpads M Y 1 09 amp
184. e smc 5 eds Load 200 Enable guarding Stop Communication MessageID Length Data ____________ Period Count_ Receive PDO Setup Transmit PDO Setup Manufacturer Specific 02012 Motor parameters Sub 0x00 Number of entries 253 O FD 0501 PRO B b Dx01 PROG VERSION 0 0x0 Sub 0x02 REG 0 0x0 Sub 0x03 P_SOLL 0 0 0 Sub 0x04 Parameter 4 0 0 0 Sub 0 05 V SOLL 0 0 0 Sub 0x06 4_SOLL 0 0 0 Sub 007 RUN CURRENT 0 0 0 Sub 0x08 STANDBY TIME 0 0 0 Sub 0x09 STANDBY CUR 0 0 0 Sub 0x04 P IST 0 0 0 Sub 0 0 Parameter 11 0 0 0 Sub O 0C V IST 0 0 0 Sub 0 00 V START 0 0 0 User SDO List Sub Ox0E Parameter 14 0 0 0 Sub OxO0F Parameter 15 0 0 0 Sub 0x10 ENCODER POS 0 0 0 Sub 0x11 Parameter 17 0 0 0 Sub 0 12 INPUTS 0 0 0 Sub 0x13 OUTPUTS 0 0x0 Sub 0x14 FL WERR 0 0 0 Sub 0x15 Parameter 21 0 0 0 Sub 0 16 FLWERRMAX 0 0 0 Sub 0x17 Parameter 23 0 0x0 Sub 0x18 COMMAND 0 0x0 Sub 0 19 STATUIS BITS 0 0 0 0 2012 02012 02012 02012 0 2012 0 2012 02012 02012 0 2012 0 2012 1 0 1 2000 0 7D0 200 0 8 0 3 200 0 8 0 0 0 20000 0 4E 20 100 0x64 0 2012 30000 07530 02012 20000 054 20 Sub 01 TEMP 0 0 0 IT m Sub 0 1 Parameter 27 0 0 0 zm Sub 0 1C MIN P IST 0 0 0 Read User SDOs Write User 5005 Sub 0 10 Parameter 29 0 0 0 E
185. e CAN bus Using e e e e e 6060606000000000000000000000000000000000000000000000000000000000000000000000000000000 146 06060606000000000000000000000000000000000000000000000000000000000000000000000000000000 147 0606060000000000000000000000000000000000000000000000000000000000000000000000000000000 148 6060606000000000000000000000000000000000000000000000000000000000000000000000000000000 49 6060606000000000000000000000000000000000000000000000000000000000000000000000000000000 52 6060606000000000000000000000000000000000000000000000000000000000000000000000000000000 53 6060606000000000000000000000000000000000000000000000000000000000000000000000000000000 5 060606000000000000000000000000000000000000000000000000000000000000000000000000000000 60606060000000000000000000000000000000000000000000000000000000000000000000000000000009 8 0606060000000000000000000000000000000000000000000000000000000000000000000000000000000 182 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 4 10 5 10 6 1 1 11 2 11 3 11 4 1 5 12 12 1 12 2 12 3 12 4 12 5 12 6 UJ w w 4 CJ 14 1 14 2 14 3 15 15 1 15 2 15 3 15 4 15 5 15 6 15 7 15 8 15 9 15 10 16 jects In t e stan ar 606060000000
186. e Inputs are not optically isolated from other Controller circuitry All of the Inputs have a common ground terminal denoted GND Each Input can operate with voltages in the range 5 to 30VDC Note that the Inputs should normally be connected to a PNP output since a positive current must be applied for an input to be activated Note that CVO is available as CVI on the I O connectors This provides the facility that local sensors can be supplied directly from the controller 2 2 4 Connection of NPN Output If an Input is connected to an NPN output a Pull Up resistor must be connected be tween the Input and the supply See the illustration above The value of the resistance used depends on the supply voltage The following resistances are recommended Supply Voltage Recommended Resistance R 5 12VDC 1kOhm 0 25W 12 18VDC 2 2kOhm 0 25W 18 24VDC 3 3kOhm 0 25W 24 30VDC 4 7kOhm 0 25W l6 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 2 Inputs 2 2 5 End of Travel Limit Inputs General Any of the 8 inputs can be used as limit inputs The input can be set from MacTalk or via register NL Mask page 103 or PL Mask page 104 Positive limit PL Activation of the Positive limit PL Input will halt motor operation if the motor is moving in a positive direction The motor can however operate in a negative direction even if the PL Input is activated Negative limit NL Activation of the
187. e connector layout PWR CN1 Power input M12 5pin male connector JVL Cable WI1000 Isolation Signal name Description M12F5TxxN group 1 Main supply 12 80VDC Connect with 2 Main supply 12 80VDC Connect with pin 1 Control and user output supply 12 30VDC DO NOT connect gt 30V to this terminal Main supply ground Connect with pin 3 Pe Main supply ground Connect with pin 5 Note and P are each available at 2 terminals Make sure that both terminals are connected in order to split the supply current in 2 terminals and thereby avoid an overload of the connector Continued next page JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 35 CN2 RS485 IN OUT M12 5pin female connector JVL Cable Isolation WI1000 M12 group M5TxxN See note Signal name Description RS485 RS485 interface Leave open if unused RS485 A RS485 interface Leave open if unused RS485 B RS485 interface Leave open if unused RS485 A RS485 interface Leave open if unused GND Ground intended to be used toghether with the 5 1 other signals in this connector CN3 RS485 I O connector M12 8pin female connector JVL Cable Isolation Signal name Description WI1000 M12 group M8TxxN See note Yellow RS485 B RS485 interface Leave open if unused 5 lO I O channel 1 Can be used as input or output
188. earch modes 6 5 3 1 0 Set Up Rese Du LI Lied Errore Main 170 Setup Registers Advanced Tests Scope Programming Inputs Outputs D edicatated Inputs 101 Active level Home input Input 2 Megatrve Limit input Input 3 Positive Limit input Input 1 External Encader Disabled nd Dedicatated Outputs In position Dutput 5 E Error Disabled Input Filters Input filter time 5 ma 101 Filter Enabled IE aps 02 Filter Enabled 103 10 3 Filter Enabled 04 Filter Enabled 05 Filter Enabled 06 Filter Enabled 07 Filter Enabled 08 Filter Enabled Cu NECS un eh Fion z NECS uh eh im 102 Active level 103 Active level 104 Active level 105 Active level IDE Active level IO Active level 108 Active level 107 104 Type Jil 105 Type 06 Type lO Type 108 Type Important information Each of the 8 pins can be defined as inputs or outputs The tive digital input level for each input is also defined in the above screen Furthermore it is possible to set up a filter for each input to avoid noise interfering with the program The inputs for Home Negative Limit and Positive Limit and outputs for In Position and Error are also selected here If an external encoder is used it must be enabled here 6 5 4 Advanced p y e eo Search w Change direction position limit
189. earch type 1 13 When the operation mode is set to 13 the controller will start the search for the zero point See Sensor type 1 Zero search page 74 for details Zero search type 2 14 When the operation mode is set to 15 the controller will start the search for the zero point See Sensor type 2 Zero search page 74 for details Safe mode 15 This mode is similar to passive mode but also allows the save in flash and reset com mands Safe mode cannot be entered exited directly this must be done using the serial commands ENTER EXIT SAFEMODE Example Writing MODE REG 2 will set the motor in position mode When P SOLL is changed the motor will move to this position with the specified max velocity V SOLL and accel eration A SOLL Writing MODE REG 13 will start a zero search for a sensor When the search is com pleted the MODE REG will automatically be changed to the mode specified in START MODE 8 2 4 P SOLL 3 Psou yoy See Poston Description The desired position When in position mode the motor will move to this position This value can be changed at any time The maximum possible position difference is 231 1 If relative movement is used the P_SOLL will just wrap at 231 1 and the motor will move correctly Please note that the turntable function changes the behaviour of P_SOLL See Turntable Mode page 103 Example If P SOLL 800 and then P SOLL is set to 800 the motor moves one revolution f
190. ed and classified in the object dictionary or index and is accessible via the network Objects are addressed using a 6 bit index so that the object dictionary may contain a maximum of 65536 entries Supported by Index Hex MAC00 FC2 FC4 roo 0001 001F Static data types 0020 003F Complex data types 0 0052 Manufacturer specie Data Types _ oorr AOOO FFFF Index 0001 001 F Static data types contain type definitions for standard data types like boolean integer floating point etc These entries are included for reference only they cannot be read or written Index 0020 003F Complex data types are predefined structures that are composed out of standard data types and are common to all devices Index 0040 005F Manufacturer specific data types are also structures composed of standard data types but are specific to a particular device Index 1000 1 FFF The communication Profile area contains the parameters for the communication profile on the CAN network These entries are common to all devices Index 2000 5FFF The manufacturer specific profile area for truly manufacturer specific functionality 202 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 6 details of CANOpen Theory 10 6 2 Index 6000 9FFF The standardised device profile area contains all data objects common to a class of de vices that can be rea
191. ed as both digital inputs digital outputs and analogue inputs When an I O is configured to be an input it simultaneously has both a digital value high or low and an analogue value in the range 0 00 to 5 00 Volts Input voltages higher than 5 0 Volts will be internally limited and read as 5 00 Volts The inputs use a resolution of 10 bits which means that in the raw motor units a value of 5 00 Volts reads out as the value 1023 This gives a resolution of 5 00 1023 4 8876 mV per count The eight values from the analogue inputs are maintained by the SMC75 firmware in the registers 89 96 as raw unfiltered values with the fastest possible update frequency and additionally in the registers 81 88 as filtered values The firmware does not use any of the values for dedicated functions It is always up to the program in the motor to read and use the values The analogue filtered values are typically used to suppress general noise or to define how quickly the input value is allowed to change or in some cases to limit the input voltage range typical example is an analogue input that is connected to a manually controlled potentiometer so an operator can regulate the speed of the machine by turning a knob In many environments this setup is subject to noise which could make the motor run unevenly and cause too sharp accelerations or decelerations when the knob is turned The filter functions supported in the SMC75 firmware always use three
192. egisters 81 88 will not change A value of zero in this register will effectively disable the minimum confidence check JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 129 8 3 MIS34x amp MIS4Sx Registers 8 3 46 Afzup ConfMax 103 AFZUP ConfMax 32bit 1 1023 1023 4 888 mV Confidence Max Description The maximum confidence limits for analogue inputs are set and read back using this reg ister in combination with the read and write command registers 100 and 101 If a new raw sample value is larger than the value in this register it is simply discarded and the filtered input value in registers 81 88 will not change A value of 1023 in this register will effectively disable the maximum confidence check 8 3 47 Afzup MaxSlope 104 AFZUP Max Slope 32bit 2 1023 1023 4 888mV Max Slope Description The maximum slopes per sample for analogue inputs are set and read back using this register in combination with the read and write command registers 100 and 101 If a new raw sample value on an analogue input lies farther from the previous filtered val ue in registers 81 88 the new sample will be modified to lie at most MaxSlope units from the filtered value This is used to suppress noise and limit acceleration Note that the value is optionally filtered after being slope limited in which case the effective slope lim itation will be divided by the filter ratio A value of 1023 will effectively di
193. eive COBID Nodeig 0x00000500 rw _____ Nodeiaox00000460 w Receive PDO eye o I2 4 8 7 Daa PSOL veson ASOL Object 2012h sub3 20M sub 5 2014h sub _ gt a 2 With this it is possible to update the running current and operating mode ye p I2 I3 T4 5 T T7 Daa RUNCURRENT MODEREG _ Object 2014 sub z0Mmsubz Receive PDO 3 This PDO can be used to issue a Motor command Be ppp p ppr Data Motor Command Reserved Reserved Reserved Res Res Res ject 1 Receive PDO 4 This PDO updates the outputs Bye 2 3 Jp 5 6 7 Data Ouputdata Reserved Reserved Reserved Res Res Res powsbis ___ ll JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 193 10 4 Objects in the DS301 standard 10 4 10 Beckhoff transmit PDO setup Transmit PDO With this PDO the actual position can be read Byte 1 2 3 4 5 6 J 7 Data PLIST VIST Object 2012h sub 10 2014h sub 12 2014h sub 35 Transmit PDO 2 With this PDO the value of the analogue inputs 1 4 can be read eve p b p bp p 7 Data ANALOGUET ANALOGUE ANALOGUES ANALOGUES _ Object 204m sub 89 _ 20 sub 90 2014 sub 91 2014n subG2 Transmit PDO 3 With this PDO the value
194. en CANopen firmware is installed the basic MLT will change from 30 to 90 Lis with no communications When loading the CANbus with communications the MLT can rise significantly For ex ample when using seven transmit PDOs with an event timer value of ms and a CANbus link speed of 500 kbits s the can rise to 150 200 us Also using RS 485 communi cations at high baud rates can result in even longer MLT values However this scenario is very unlikely Note In applications where program timing is critical tests must be performed to ensure that timing is satisfactory when communication is running according to conditions used in production JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 287 15 6 Connection of JVL and MAE motors parallel Type MST23x MSTS34x HY200 xxxx xxx x8 Black Black White 72 _ A A A B Red White Yellow White Yellow Connection of JVL and MAE motors serial Type MST23x MSTS34x and HY200 xxxx xxx x8 Black Black White Orange White_ P d Red White N Yellow White Yellow Connection of MAE motor unipol Type HY200 1xxx xxxxx6 Motor in unipolar model 6 wires White White ui Green A A Green SM87 SM107 168 x xx Motor Connections Connection of JVL and MAE 4 wire motors Type MST17x HY200 xxxx xxx x4 Black White 17xx Orange Yellow 17x
195. ends on a company s number of employees Membership runs from Ist ISt and is renewed automatically unless cancelled in writing January 1 until December 3 by the end of a calendar year Companies applying for membership after July 1 pay 50 of annual membership A PDF application form can be downloaded from http www can cia org cia applica tion html Note Once you have received a license from CIA standards will be sent on a CD and are downloadable via member login All of the CiA specifications can be ordered from the following URL www can cia org downloads ciaspecifications CANopen network The CAN bus is a serial bus with multi master capabilities where different products from different manufacturers can communicate with each other These include for example devices such as PLCs motors sensors and actuators Some message types have higher priority and are sent first for time critical applications New devices can easily be inte grated on an existing bus without the need to reconfigure the entire network The de vices are connected through a 2 wire bus cable with ground and data is transmitted serially JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 1 10 1 4 General information about CANopen Terminator CAN H CAN Node 5 master i slave Slave CAN network CAN_L 17109208 CANopen general information CA
196. epper Motors MIS23x 34x 43x 155 9 7 Graphic programming command reference 9 7 5 Move Relative velocity change at a distance Dialogue Mowe type C Relative i Cancel C Relative set outputs __ Absolute Sensor General parameters Change velocity parameters Distance r Counts Distance r Counts Acceleration 0 RPMs New velocity 0 Velocity 0 RPM r Enter velocity or acceleration to use the current velocity or acceleration Function Performs a relative movement and changes velocity at a specified distance before reaching the new position The distances are measured in encoder counts and can either be entered directly or taken from three memory registers in the RxP module For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that motor register no 5 V SOLL will always be overwritten with the value specified in the New velocity field Also if you specify an acceleration motor register no 6 SOLL will be overwritten with the acceleration value specified Register no 49 is always overwritten by this command This command always waits until the movement is finished before proceeding to the next line in the program 156 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 7 Graphic programming command reference 9 7 6 Move Relati
197. eq 0078 00261 pneq 0096 ayes pneg Hod jenes ay uo 94 I 0 M Y HAZE JJeDEN E E E E st uw O3S al df AV13 JIVM 279 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 2 534 43 5 85 Registers detailed 1915189 Siy SISN JJe 1241 32110U aseajd UO JaMOd Jaye 0 aq sAeme 1 V N 3ou 51 1491519 41 SIUL GESS9 0 M Y 4010UJ Jo9peo 100q 991 JO 5 94 1325 Suunp y uo Y N yey Ol 3euM sauUljaq JSeIN OI Ol JOJI9 UI OS IM JOJOW y 5141 5 snq 941 J snq 941 A0 OW uo 00 uo ade OA unuuixeuJ 99 3OA OOT O HAZE 4010UJ uo 9JeMpJeU y Jo UOISIA JI 99 9T 40felA 1472 winsyoayo asemaa SESS90 y __ d S S S CVESIW 8 TVESIW 8 OVESIIN 8 891 15 08 4 54635 edA1 941 8 08 WQCE yje 12e sonder NN Send Es uS JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 280 15 2 MISS4 43 SMC85 Registers detailed s 310
198. er amp Tm Start Stop 1 REM Demonstration 2 Set outputs 2 high a 3 Move Rel dist 40 4 Wait 500 ms 5 Set outputs 2 low an 6 Jump to 2 TT2189GB 147 9 3 Programming menu The menu found at the top of the main window gives access to the following options DET Setup Updates New program Described elsewhere in this chapter Program setup Upload program Upload the program from the module to MacTalk Program information Print program Clear program m Program Source Shows the memory usage if the program compiled source program and remarks is downloaded into the module Program Source REM Same as above but without remarks Sizes Program only Program Source REM Same as above but without source Program only program and remarks Program information General Information Checksum Checksum 600 Shows the checksum of the complete Lines 1 program downloaded into the module Program type Absolute and relative The checksum is unique and can be used to verify whether the program in the module matches the original program or not Lines The number of program lines used in the source program MacTalk Mode Specify the program type actually used Setup Skip initialization advanced Settings TT Bypasses internal initialization routines after powerup Skip iniialzalion advanced Only for very special use fg Transfer settings Pro
199. er that V START the motor will not accelerate at all but start to run at V SOLL instantly The motor will actually start the movement with an internal V START V SOLL If V START is changed during a movement it will first be active when the motor stops or changes direction This also means that if V SOLL is changed to a value below V START while the motor is in motion the motor will decelerate to V START and run at that velocity Example V START 100 V SOLL 200 MODE REG 1 The motor will accelerate from 100 RPM to 200 RPM V SOLL is now changed to 50 The motor will decelerate to 100 RPM and continue at 100 RPM V SOLL is now changed to 50 RPM The motor will stop and start at 50 RPM 8 3 13 GEAR1 14 GEAR1 32bit 215 215 1 1600 Output Description When the gear mode is active the input from the external encoder is multiplied by GEARI and divided by GEAR2 Example GEARI 1600 GEAR2 2000 If 2000 steps are applied to the input the motor will turn revolution If one step is applied the motor will not move but the remainder will be 0 8 If another step is applied the motor will move step and the remainder will be 0 6 If another step is applied the motor will move step and the remainder will be 0 4 And so on 8 3 14 GEAR2 15 GEAR2 32bit 215 215 1 2000 Input Description The denominator of the gear factor See GEARI for details 8 3 15 Encoder Pos Description lf the internal enco
200. eral The Controller is equipped with a total of 8 digital outputs Each output can be used for a variety of purposes depending on the Controller s basic mode of operation The Out puts are not optically isolated from other Controller circuitry The output circuitry is powered from the internal power supply CVI The output circuitry operates with volt ages in the range 5 28VDC Each output can supply a continuous current up to 350mA The outputs are all source drivers i e if a given output is activated contact is made be tween the control voltage CVI and the respective output terminal See above illustra tion Overload of User Outputs All of the outputs are short circuit protected which means that the program and the mo tor is stopped and the output is automatically disconnected in the event of a short circuit The output will first function normally again when the short circuit has been removed Note Do not connect a voltage greater than 30VDC to the CVI terminal as the output circuitry may be seriously damaged and the unit will require factory repair If one or more outputs are short circuited MacTalk will Show Error Output Driver and Bit2 will be set in Err Bits Section 8 2 26 page 92 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x e 9 2 5 1 Serial interfaces overview Serial interfaces The Controller has 2 serial interfaces RS485 A and B balanced for up to 32 units in
201. ers Description Position limit for movement in the positive direction The motor can be configured to stop automatically when it reaches this position 8 2 25 Acc Emerg Reg Name Size Access Range Default Unit MacTalk _ 32 ACC EMERG 16bit 1 65535 10000 9 54 RPM s2 Error Acceleration Description The motor will use this acceleration during an emergency stop 8 2 26 Err Bits Size Access Range Default Uni MacTalk name 35 ERR BITS 16bit Special 1 Errors Description Error bits Bit O Bit Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 General error Will always be set together with one of the other bits Follow error Output driver error Bit is set if one of the outputs is short circuited Position Limit error Low bus voltage error Over voltage error Temperature too high 90 Internal error Self diagnostics failed If any of these bits are set the motor is in a state of error and will not move until all che errors have been cleared Some of the errors can be cleared by writing zero to this reg ister Other errors will require hardware fixes or intervention such as allowing the motor cool down or adjusting the power supply voltage 92 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MIS23x Registers 8 2 27 Warn Bits 36 WARN BITS 16bit RW 0 ______ Special Warnings Description W
202. ersions COUNCIL DIRECTIVE of 3 May 1989 on the approximation of the laws of the Member States relating to electromagnetic compatibility 89 336 EEC was manufactured in conformity with the following national standards that implements a harmonised standard EN 61800 3 Adjustable speed electrical power drives systems part 3 EMC product standard including specific test methods Januar 2008 f J 2 f Uu Bo V Jessen Technical Director JVL Industri Elektronik A S LX0020 01GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 299 300 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 17 Index A A SOLL 87 119 155 159 190 193 Abort SDO 207 Acc Emerg 92 124 Acceleration factor 199 Address CANopen 177 Address MacTalk 49 Afzup ConfMax 98 130 Afzup ConfMin 97 129 Afzup Filter 98 130 Afzup MaxSlope 98 130 Afzup Readlndex 97 129 Afzup WriteBits 97 129 An 95 127 Analog input filters 20 AnalogFiltered 96 128 Analogln 96 128 Analogue inputs 19 Auto correction 59 Available IO 110 142 Baud rate 91 108 123 140 179 224 2 26 227 287 Binary command 169 Bipolar motors 221 Boot up telegram 203 Bootloader Ver 110 142 Brakes and shaft reinforcement 244 Busvol 96 128 Cables 37 40 43 242 Cabling 176 220 Calculator basic 170 Calculator options 171 CANA 177 CANB 177
203. etailed description of how to set up a zero search refer to Zero search modes page 2 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 167 9 7 Graphic programming command reference 9 7 22 Send FastMAC command change mode and activate register Icon T Dialogue Made Register Humber Passive Position Humber Cancel t Velocity Velocity t Command Torque Load f Positian Acceleration position window Function FastMAC commands are also sometimes referred to as FlexMAC commands The advantage of these commands is a very low communication overhead FastMAC FlexMAC commands are described in detail in section 4 5 7 of the MAC user manual JVL publication no LB0047 20GB However a brief summary is in order If Mode is set to Passive Velocity or Position the motor will switch to that mode Also one of the passive motor registers will be activated in the sense that its value will be written to the corresponding active motor register which actually controls motor behaviour In the example above the value in register no 65 VI will be written to register no 5 V SOLL Move operations will then take place at that veloci 168 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 7 Graphic programming command reference 9 7 23 Send FastMAC command macro command Icon Di
204. etween zero and the value in this register minus one Negative values are not allowed for P SOLL or Turntable Size 8 3 66 NL Mask a a TU 1 NL MASK 32bit IO Mask Dedicated Inputs Negative Limit Input Description Selects which one of the eight pins to use for the dedicated function of Negative Po sition Limit Exactly one bit must be set and the IO pin must be configured in register 125 as an input Example If input 7 is to be used for the Negative Input Limit write 26 64 to this register JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 135 8 3 MISS4x amp 543 Registers 8 3 67 PL Reg Name Size Access Range __ Default Unit MacTalk name Dedicated Inputs Positive Limit Input Description Selects which one of the eight pins to use for the dedicated function of Positive Posi tion Limit Exactly one bit must be set and the pin must be configured in register 125 as an input Example If input 8 is to be used for the Positive Input Limit write 27 128 to this register 8 3 68 Home Mask Reg Name Size Access Range __ Default Unit MacTalk name HOME MASK 32bit R W IO Mask Dedicated inputs Home Input Description Selects which one of the eight IO pins to use for the dedicated function of Home Input Exactly one bit must be set and the IO pin must be configured in register 125 as an input Exa
205. ey of objects which are used the DSP 402 standard See section 10 5 1 to section 10 5 7 Section with more detailed explanations of the CANopen theory particularly 05 301 See section 10 6 1 to section 10 6 7 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 173 10 1 General information about CANopen 10 1 1 10 1 2 10 1 3 174 Introduction A CanOpen option is available for the SMC75 When this option is installed the SMC75 includes a CANopen slave Through the CANopen slave all the registers of the SMC75 can be accessed The SMC75 implements an object dictionary that follows the CiA DS 301 standard The SMC75 contains a number of statically mapped PDOs that can be used to access the most common registers It also supports the DSP 402 motion profile standard and the motor can be controlled using this as well The SMC75 Controller is designed to be used on a CANbus CANopen 05 301 CANopen DSP 402 Do not use the module together with CANKingdom or DeviceNet CiA membership CiA CAN in Automation is a non profit society The object of the society is to promote CAN Controller Area Network and to provide a path for future developments of the CAN protocol CiA specifications cover physical layer definitions as well as application layer and device profile descriptions In order to receive the CAN standard is it necessary to obtain CiA membership The membership fee dep
206. for MIS231A1C2N075 and mounted cable on 523 lal CI NO75 Power Cable page 29 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 27 2 7 2 7 4 2 7 5 28 Special Outputs Pulse Direction Outputs Any number of the outputs can be configured to follow the pulse and direction signals used internally in the motor This can be used for accurate synchronization of two or more motors See the register description for registers 108 and 109 in PulseDirMask page 99 and Pul seDirMod page 99 Encoder Outputs only from version 2 0 If the motor is equipped with a built in encoder it is possible to obtain the incremental signal and the index pulse out on the user outputs Please note that the voltage typically is 24VDC PNP Therefore a resistor to ground should be connected A 2 channel encoder with 256 pulses revolution will give a total of 1024 pulses revolution If a magnet is mounted on the rear end of the motor shaft and this is placed in close dis tance to the SMC75 PCB a 1023 pulses rev incremental A B index signal will be avail able on 3 of the output pins Encoder position will also be available at an internal register and can be used in a PLC program Output Encoder _ JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Special connections QuickStep motor MIS231A1CITNO75 Motor with 2 cable glands PG1I2 out of the side for low
207. get Velocity 32bit Object GOFF subindex 0 em 291 Actual Velocity 32bit Object 606C subindex 0 Object 60FE subindex 1 Digital Outputs 16bit RW 65535 lo e Low 16bit Object 60FD subindex 1 ice 95595 0 84 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MiS23x Registers 8 2 2 Prog_Vers MacTalk Range name Major 16 Description The firmware version The Bit 14 is set to indicate that the type is SMC75 Bit 0 3 is the minor version and bit 4 7 is the major version Example The firmware version 1 7 will have the value 0x4017 16407 8 2 3 Mode Reg Name 5 Range __ Default Unit MacTalk 0 1 2 3 11 Description Controls the operating mode of the motor The following modes can be selected 0 Passive Velocity mode 2 Position mode 3 Gear mode 13 Zero search type 14 Zero search type 2 15 Safe mode Passive mode 0 In this mode the motor current is turned off and the motor will not react to any position velocity commands Velocity mode 1 When the motor is in velocity mode the controller accelerates the motor to the velocity in V SOLL V SOLL can be changed at any time and the move will decelerate accelerate accordingly It is permissible to change A SOLL and V START during a movement but the changes will first take effect after the motor has stopped Please note that if the motor
208. gly rapid bus access for messages according to their im portance Especially important messages can thus gain access to the bus without a prolonged wait time regardless of the loading on the bus at any instant This characteristic means that important messages are transmitted with high priority even in exceptional situations thereby ensuring proper functioning of a system even dur ing phases of restricted transmission capacity JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 175 10 1 General information about CANopen 10 1 5 76 Multi Master capability Bus access rights are not issued by a mean level control unit bus master per network Instead each network node can start to send a message with equal rights as soon as the bus has become free If several participants access the bus at the same time an arbitra tion process allocates each participant the bus access right in line with the priority of the message they want to send at that particular moment Each participant can therefore communicate directly with every other participant As the transmission of a message can be initiated by the message source itself then in the case of event controlled transmis sion of messages the bus is only occupied when a new message is on hand No loss bus arbitration As the bus is accessed at random under the CAN protocol it is possible that several par ticipants try to occupy the bus at the same
209. gram Source Remarks Program Source Remarks Default Choosing this will transfer everything down into the Program Source module memory This can be an advantage if remarks and source program must be uploaded to MacTalk later Program Source Same as above but without remarks Program only Only the compiled program is transfered TT2173GB C Program only 48 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 4 How to build a program When choosing New program in the Programming menu or entering MacTalk for the first time programming can be started Press the button at line and a tool box will pop up De we mew eer bee Se TR k e Pese posue m t Cp oT COM sean deme Fm pomme Tnm opm DA en 4 T rese Haa Cnet 340 Age taret D ve am eg tee eres Press the first button to create the first program line The Select command box will t 9 i 3 Gy mon 2 E d monn mt Choose the desired command In this example it is desired to wait for an input to be activated before further program execution Ll LLLA et b amp Pet pee Cowes fetes fees DOR COM mn Adorni Filter pomem lenge Ha
210. gt 55 55 55 Exit safe mode command 07h F8h Address 7 The address of the SMC75 ARR Command termination ih Tih HR Accept from SMCTS 15 7 7 Write to flash This command writes the register values to flash memory The values will then be re tained after a power down The command will only work if the motor is in Safe mode After the command is executed the motor will reset The response will only be trans mitted if the command failed e g if the motor is not in safe mode Controller sends SMC75 response WriteFlash Address End Block description Block Name Protected Example Description lt WriteFlash gt 56h 56h 56h Write to flash command Address 07h F8h Address 7 The address of the SMC75 No End AAh AAh Command termination Accept 11h 11h 11h Accept from SMC75 15 7 8 Reset controller This command resets the SMC75 No response will be transmitted from the SMC75 Controller sends SMC75 response Reset Address End Block description Block Name Protected Example Description ________ No 57h 57h 57h 07h F8h Address 7 The address of the SMC75 AA ARR Command termination 292 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 7 Serial communication 15 7 9 Group write register Using this command it is possible to write a register in several SMC75s with one com mand T
211. han kHz the motor phases can be connected in parallel JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 221 11 3 11 3 3 11 3 4 222 How to connect the motor Serial Gonnection Using serial connection of the phases a motor provides the same performance up to kHz as parallel connection but using only approximately half the current This can in fluence the selection of Controller model and enables a Controller rated for a lower mo tor current to be used See illustration on previous page If the phases of a 4 phase step motor are connected in series the motor s rated phase current should be divided by 1 41 For example if the rated current is 4 2 the maxi mum setting of the Controller phase current must not exceed 3 when the motor phas es are connected in series Parallel Connection With parallel connection of motor phases a motor will provide better performance at frequencies greater than kHz compared to serially connected phases but requires ap proximately twice the current This can influence the choice of Controller since it is nec essary to select a Controller that can supply twice the current used for serial phase connection See illustration on previous page When the phases of a 4 phase motor are connected in parallel the specified rated cur rent of the motor must be multiplied by a factor of 1 41 For example if the rated current is 2 0A the maximum setti
212. he Internal Error memory test error was set VI Number of times the Follow Error was set since the last Error Reset command V2 Number of times the Output Driver Error was set since the last Error Reset com mand V3 Number of times the Position Limits Exceeded Error was set since the last Error Reset command V4 Number of times the Low Bus Voltage Error was set since the last Error Log Reset command V5 Number of times the Over Voltage Error was set since the last Error Log Reset command V6 Number of times the Temperature Error was set since the last Error Log Reset command V7 Number of times the Internal Error was set since the last Error Log Reset com mand The command 266 will set all error timestamps and all error counters to zero All commands are entered in register 24 or in the Command field in Mactalk Test Command JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 3 Absolute position back up system Additional information saved when position backup is activated Error tracking where the number of times each type of error has occurred since the last reset error operation is remembered together with a timestamp for the last time the er ror occurred The timestamp is in Run seconds Monitoring of total run time in seconds called Run Seconds Counting of the number of times new PLC program has been saved The motor parameters have been saved 9 3
213. he baud rate after this value is changed over the serial interface RS485 once the motor has finished transmitting all data bytes that are queued MI UJ MN CO 8 3 81 Tx Delay 147 TX DELAY 32bit 1 255 Transmit Delay Description The time to wait before the response is transmitted The unit corresponds to the time of one bit at the current baud rate Many PLCs and communications processors require a minimum delay after they have sent a command to the motor before they are able to receive the response 8 3 82 Group Id 148 GROUP ID 32bit 0 255 ____ Group ld Description The group ID of the motor The motor will accept data from a group write command only if the group ID number in the command matches this number The idea is that several motors can have the same group ID so they can be updated with new register values in parallel to save transmission time 8 3 83 Group Seq 149 GROUP SEQ 32bit R 0 255 Description The last received group write sequence 140 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MIS34x amp MIS4Sx Registers 8 3 84 My Addr 32bit RW 05 Motor Address Description The motor address Data communicated over the serial interface will only be accepted if the address byte in the command is either equal to this value or has the value 255 which means broadcast to all motors 8 3 85 Motor type MOTORTY
214. he command hex 53 SMC75 READSAMPLE 8 2 59 Buf Size LOL MEN X M ERU d Lue eur size _ t Description This read only register contains the maximum length of the sample buffers used to sam ple the registers selected in registers 12 115 Register 116 should never be set to a val ue higher than the value in this register 8 2 60 Index Offset 120 INDEX OFFSET 16bit R 0 1599 Steps ___ Tests ______ Description This register can be selected to receive the absolute value of the internal encoder where the Zero search home position was found during homing This is selected by bit 0 Use Index in register 122 It requires that the internal encoder option is installed JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 101 3 2 MIS23x Registers 8 2 61 Home Bits Reg Name Size Access Range __ Default Unit MacTalk name HOME BITS 16bit RAN Special Advanced Zero Search Description Bit 0 Search for index Bit Change direction on limit Bit 2 Search for opposite side of sensor Bit 3 Use Limit switch as sensor Bit 4 Ignore switch Used for searching only for index Contains configuration bits that define how Zero search homing should be carried out 8 2 62 Setup Bits Name Size Access Range Default Uni MacTalk Don t start program after power up Invert motor direc tion SETUP BITS 16bit Special External Encoder Enable DSP 40
215. he command includes a sequence number which must be changed for each write This is used so that the same command can be written several times to ensure that all con trollers received it The last received sequence id can be read in register 148 Controller sends SMC75 Response GWrite Group Sequence RegNum Len Data End Block description Block Name Protected Example Description 05h FAh RegNum 5 The register number to write to 02h FDh Len 2 The number of data bytes E8h 17h 03h FCh Data 1000 The data to write to the register Command termination 15 7 10 Program status and command Using this command different actions can be executed The command also returns some information about the program state The table below shows the possible commands Com eee E A S S _ Pause program execution SS Start Ad End Ad Run the program until the program pointer is outside the area dress dress Start Address End Address 16bit 16bit Then the program is paused Size 16 bit flash for a new program Data 1 specifies the size of the program in The command number is placed in the first command data byte Data Data 2 are placed in the following command data bytes Modifies the outputs The bits set in the Set outputs data will be set and cleared Clear out i Set outputs Ute for Clear outputs 8bit 858
216. hes this number The idea is that several motors can have the same group ID so they can be updated with new register values in parallel to save transmission time 8 2 83 Group Seq m crour sea r jozs j o o doo d Description The last received group write sequence 108 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MIS23x Registers 8 2 84 My_Addr MY_ADDR 16bit RW 0 254 Motor Address Description The motor address Data communicated over the serial interface will only be accepted if the address byte in the command is either equal to this value or has the value 255 which means broadcast to all motors 8 2 85 Motor type MOTORTYPE fbit IR 64x Status Bar Description The motor type 64 SMC75 65 MIS23 66 MIS232 67 MIS234 This value is read only and is programmed into the motor during manufacturing 8 2 86 Serial Number Size Access Range Unit MacTalk name Description The serial number of the motor This value is read only and is programmed into the motor during manufacturing 8 2 87 Checksum Reg ____ Access Range __ Default Unit MacTalk name 154 _ sat Description Firmware checksum This value is read only and is programmed into the motor during firmware update 8 2 88 Hardware Rev as Toolt
217. hic programming command reference 9 7 8 Move Sensor Dialogue Mowe type Relative Relative velocity change at distance Cancel Relative set outputs Absolute General parameters Sensor parameters Distance 0 Counts Safety distance 0 Counts Acceleration 0 Input conditionis Velocity 0 RPM 3 Enter velocity or acceleration to use the current velocity or acceleration Function Performs a movement in the direction specified until an input condition is satisfied The motor then moves the distance specified before stopping The motor will not move farther than the Safety distance specified regardless of whether the input condition is satisfied The distances are measured in encoder counts and can either be entered directly or taken from three memory registers in the user memory area For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V SOLL will be overwritten with this velocity value Also if you specify an acceleration motor register no 6 SOLL will be overwritten with the acceleration value specified Register no 49 is always overwritten by this command This command always waits until the movement is finished before proceeding to the next line in the JVL Industri Elektronik A S User Manual Integrated Stepper
218. his time is the time from the last step has been Example performed until the current changes from running to standby When a new request for a move is received the current changes from standby to running with no delay STANDBY TIME 200 will result in the controller switching to the standby current after 200ms JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 87 3 2 MIS23x Registers 8 2 9 Standby_Current Name Size Access Range Default Unt MacTalk name STANDBY _ CURRENT 16bit Rw 0 511 LN 5 87 mA Standby Current Description This register set the standby current for the motor 51 is the maximum possible value corresponding to 3A RMS The standby current is active when the motor has stopped and the specified Standby time has elapsed See Standby Time page 87 When the STANDBY CURRENT is changed the new motor current will be set instantly Example STANDBY CURRENT 50 will set the running current to 0 29A RMS 8 2 10 P IST Description This register shows the actual position of the motor This is updated each time the motor makes a step If P IST is changed when in position mode gear mode the motor will move until P IST P SOLL When IST reaches 23 1 it will wrap around to 2 Please note that the turntable function changes the behaviour of P IST See Turntable Mode page 103 Example P IST 1000 P SOLL 1000 P IST is set to 500 The motor will move 5
219. hort description of the signals available The connector layout PWR CN1 Power input M12 5pin male connector JVL Cable Signal name Description WI1000 Isolation P Main supply 12 80VDC Connect with pin 2 M12F5TxxN group P Main supply 12 80VDC Connect with pin 1 1 Main supply ground Connect with pin 5 CVI Control and user output supply 12 30VDC DO NOT connect 30V to this terminal Main supply ground Connect with pin 3 Note and P are each available at 2 terminals Make sure that both terminals are connected in order to split the supply current in 2 terminals and thereby avoid an overload of the connector Continued next page JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 4 CN2 Ethernet In port connector M12 4pin female connector coded JVL Cable Isolation WI1046 group M12M4SO5R See note Signal name Tx0 P Rx0 P Tx0 N Rx0_N 4 CN3 Ethernet Out port connector M12 4 pin female connector D coded JVL Cable Isolation WI1046 group M12M4SO5R see note Description Ethernet Transmit channel 0 positive terminal Ethernet Receive channel 0 positive terminal Ethernet Transmit channel 0 negative terminal Ethernet Receive channel 0 negative terminal Signal name Tx1 P Rx1 P N Rx1 N 4 CN4 RS485 I O connector M12
220. i Q2IUM 329 95 195 Yea s indul Sjndui Josuas 9UJOU 104 3ndu SEI OI M Y XSVIN 3INOF 0 o AW NOS 13150 indui Sjndui pajyesipaq 104 YSewW 3ndu i ASYN IN OcT 9151891 Aq pajqeua apow 1 1 4ZIS 9215 ajqe UINL UBYM UINL 993 Jo 9215 50915 gv1NSnL LCL Ja sisay So qeu3 a1noJ 15911045 A uQ z uonoauip lt ui uO T uonisod Jeaui pajqesip 9 sepouJ 9 qe un 99291 JO DUO Idon jqe 1 JOJOW y 5 jelnads HAZE ndino ue se O I 991 sajqeua 8 19 sjndjno sndu O I 993 5195 0 2 2945 46 401350 EEREN uonduosag wun amea Suey soy awen 277 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 2 MIS34 43 SMIC85 Registers detailed JO 291n osqe J9uiie Ul uonisod pue u1oq SuiSueuo 20 pc pue Y N 2 amp JA1584 YIM sjuno _____ __ _ NV 9 BEBE M Y q ZE o o o po 10414
221. ically converted in the module Object 2014h Motor parameters 16 bit Works as 2012h but the parameters are accessed as l6 bit If writing to a 32bit param eter the 6 bit value will be treated as signed Enable and Disable PDOs In the CANOpen profile it is only possible to have four transmit and four receive PDOs enabled at the same time In the SMC75 controller all PDOs are disabled when the mod ule is booted up The user must choose which PDOs the application will use and enable these To enable or disable a PDO it is necessary to write to the MSB bit 31 in the PDO COB ID entry in the PDO communication parameter Record The COB ID register is sub in dex Ih and the value range of this register is UNSIGNED32 The PDOs are enabled when bit 31 is 0 and is disabled when bit 31 is Receive PDOs The PDO 1 20 are reserved for use with DSP 402 The following receive PDOs are available Receive PDO 21 This PDO can be used to update the position velocity and acceleration The data in the PDO is written directly to the position register and if the motor is in position mode it will start moving to that position JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 189 10 4 Objects in the 05301 standard The table below shows default values of the COB ID Access rea gt Description pe a a 1 o frens Nodeia oxe0000260 o P Tensmt ______ Nodeiaox
222. ing 25 bit data We want to sample and convert the 551 data value from register 47 and put the convert ed value into Register 61 P2 To get the actual value from the SSI encoder we use a special command 321 The new data is placed in register 47 Now we want to convert the data from Gray code to con ventional binary format To do this we use a Binary command instruction The command is OxOC 124 From register Ox2F 47d To register Ox3D 619 25bits 0 19 25d Get the actual value from b Set Special Command to 321 the SSI encoder T 8 Binary command 0x0C 0x3D 0x18 lt Convert from binary TT2268GB 126 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MIS34x amp 543 Registers 8 3 34 Pn Reg Size Access Range Default Unit MacTalk name TIT zoey 0 Sepe _ Positon Pn Description These eight general purpose position registers are referred to as and can be used to make absolute or relative movements in several different ways either from the user program or via the serial interfaces See also the sections on FastMac commands and the P NEW register description P New page 107 8 3 35 65 72 32bit 0 1023 Velocity n Vn Description These eight general purpose Velocity registers are referred to as VI V8 and can be used to change the velocity in several different ways either from the user pr
223. ing Range Resolution Threshold 0 00003 to 32768 32 Bit External Clock In Program Storage Type Size Flash 3072 Bytes 2248 Bytes 32 bits User program variables Up to 224 gt lt lt gt AND OR XOR NOT amp Branch amp Call General Purpose I O m Plus Limit Minus Analogue In eneral Purpose Outputs Moving Fault general Purpose Party Mode Addresses 254 Encoder Functions Stall Detection Position maintenance Find Index Thermal Operating Temperature 0 45 C ambient A warning message is generated if the internal temperature passes 80 The motor is set in passive mode if the temperature passes 90 C and an error message is generated 226 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 12 2 MISS4x Technical Data Only MIS34x Main Supply Volt Voltage Range Nominal 12 to 80VDC absolute maximum 90VDC ripple free age P Current consumption Power supply current requirements 5A max Refer to illustration Actual power supply currents will depend on voltage and load Control Voltage Range 12 to 28VDC CVI maintains power to control output driver and feed back circuits only when input voltage is removed If no motor connected or passive mode 00mA Analogue Input Voltage Range 0 to 5VDC e no Purpose I Number Type 8 Sources of output or input Logic Range Inputs and Outputs tolerant to 24VDC Inputs TTL level com
224. ing a file over a net work is also possible acti The setup files use the extension MAC By default the setup files are saved in the same directory in which MacTalk itself is also installed Sd is Other directories can be selected 3 Demo2 MAC 4 Demol MAC Exit Sage ose ith de Analogue veloc In case a motor is present and a disc file is opened the user is prompted for keeping the connection or going offline and displaying the file content The following message box appears Warning The selected Filedata is about to be transfered to the motor and existing user data in the motor will be overwritten Continue with EransFer Transfers Data to the motor Going off line and displays and displays the data in the data in MacTalk Mac Talk afterwards If the user decides to go offline the following text box is presented Information i The motor will now disconnected 1 and the userdata be edited without changes in Ehe motor Pressing OK disconnects the motor from the PC application and all data can be edited without any interruption in the motor 50 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Using the MacTalk software The following MacTalk view is presented MacTalk C Documents and Settings he Skrivebord WaF s WaAc 140 Motor Setup Updates Open Save Save in flash Reset postion Cle
225. initiated via the serial search velocity interface Use indes after zero search ero search position 1000 1000 ero search ero search made Use index after zero Pome ue Sen ona 1 zen search position ero search velocity 140 100 TT2170GB The menu offers 3 options Disabled default The Zero search is disabled Power up Sensor type Similar to Sensor type but the Zero search will auto matically be started after power up Power up Sensor type 2 Similar to Sensor type 2 but the Zero search will auto matically be started after power up The following sections explain in detail the functionality of the 2 fundamental Zero search modes 6 5 2 Starting a Zero search If the Zero search mode is set to Disabled no Zero search is done at any time unless writ ten in a program If one of the 2 modes Power up Sensor type or Sensor type 2 is selected the respective Zero search mode will be executed every time the MIS motor is powered up if no pro gram is started up If a program has been made and is running the Zero search command must be executed within the program to execute a Zero search The MIS motor s zero search facility is very flexible The inputs for reference and limit switches must be set up correctly before use The active levels must also be set up correctly 72 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 6 5 Zero s
226. input value in registers 81 88 will not change A value of 1023 in this register will effectively disable the maximum confidence check 8 2 47 Afzup MaxSlope 104 AFZUP Max Slope 16bit 2 1023 1023 4 888mV Max Slope Description The maximum slopes per sample for analogue inputs are set and read back using this register in combination with the read and write command registers 100 and 101 If a new raw sample value on an analogue input lies farther from the previous filtered val ue in registers 81 88 the new sample will be modified to lie at most MaxSlope units from the filtered value This is used to suppress noise and limit acceleration Note that the value is optionally filtered after being slope limited in which case the effective slope limitation will be divided by the filter ratio A value of 1023 will effectively disable slope limitation 8 2 48 Afzup Filter th AFZUP Filter 16bit 64 of new Filter on the Filter sample setup screen Description The final filtering of new samples on the analogue inputs can be selected using this regis ter in combination with the read and write command registers 100 and 101 The final filtered value results from taking Filter 64 of the new sample plus 64 Filter 64 of the old value and storing the result in registers 81 88 A value of 64 effectively disables this filtering so the new sample simply replaces the old value 8 2 49 FilterStatus Sire Access
227. ion 28 SMC75 special outputs 27 SMC75 user outputs 23 p P terminal 12 P Home 93 125 P Ist 88 90 107 120 122 139 191 194 P New 95 107 127 139 P Soll 10 59 67 171 190 193 terminal 12 Parallel connection of motor phases 221 222 Parallel connection of motors 222 Passive mode 68 PDOs 174 189 191 201 204 205 Phases 221 PL positive limit 17 PLC systems 27 PLC PC 240 Pn 95 127 PNP 17 PNP output 16 Position factor 198 Position limit min and max 77 Position mode 10 Positioning mode 70 Positioning Speed Control 8 9 216 217 Positive limit 17 Power Supplies 243 Power Supply Capacitor 12 Power supply Grounding 13 Power supply SMC75 12 Profile position mode 200 Prog Vers 85 117 145 Program comments 154 Program jumps 161 162 165 172 Program status and command 293 Programming 145 172 PSUO5 045 243 PSU24 075 243 PSU24 240 243 PSU48 1000 243 PSU48 1500 243 PSU48 240 243 PSU48 800 243 Pull up resistor 16 Pulse Direction driver 6 214 Pulse direction outputs 28 PulseDirMask 99 131 PulseDirMod 99 131 Q Quick start 224 QuickStep motors 10 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 303 17 R Read register 290 Read register block 291 Receive PDOs 189 201 Register overview 80 Registers 79 84 86 93 97 100 106 114 116 118 125 129 132 138 A Soll 87 119 155 159 190 193 Acc Emerg 92 124 Afzup ConfMax 98 130 Afzu
228. ion mode but has an additional feature The input on the external encoder is multiplied with GEARI GEAR2 and added to P_SOLL Any remain der of the result is saved and used next time the external encoder changes The result is that this mode can be used as an electronic gear When using gear mode it is not recommend to set V START below 10 rpm This can gives problems at low speeds because the motor will lag behind when doing the first step It will then accelerate in order to catch up NOTE Time from the first input pulse to the first step is typically 30 60 if not on standby 72 1025 if on standby Zero search type 1 13 When the operation mode is set to 13 the controller will start the search for the zero point See Sensor type 1 Zero search page 74 for details Zero search type 2 14 When the operation mode is set to 15 the controller will start the search for the zero point See Sensor type 2 Zero search page 74 for details Safe mode 15 This mode is similar to passive mode but also allows the save in flash and reset com mands Safe mode cannot be entered exited directly this must be done using the serial commands ENTER EXIT SAFEMODE Example Writing MODE REG 2 will set the motor in position mode When P SOLL is changed the motor will move to this position with the specified max velocity V SOLL and accel eration A SOLL Writing MODE REG 13 will start a zero search for a sensor When the search is com
229. ip on HARDWARE REV 16bit 0 65535 Minor THEE 16384 Description The revision of the hardware This value is read only and is programmed into the motor during manufacturing JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 09 3 2 MIS23x Registers 8 2 89 Max_Voltage Reg Name Size Access Range __ Default Unit MacTalk name MAX VOLTAGE 16bit 0 100 Volt Tooltip on Motor Description The maximum allowed voltage on the bus If the bus voltage exceeds this value the mo tor will enter an error state This value is read only and is programmed into the motor during manufacturing It re flects the rating of the hardware components Supplying a higher voltage can damage the electronics components permanently If in doubt it is strongly recommended to first supply 24 Volts and connect the motor to MacTalk In MacTalk this value can be read by holding the mouse cursor over the image of the motor in the lower right of the main win dow 8 2 90 Available 10 158 AVAILABLE IO 16bit R J _____ ____ NA Description Defines what that are available on the connector This value is read only and is programmed into the motor during manufacturing Service personnel may ask for this value to identify the type of connector board mounted on the motor The values are not documented here 8 2 91 Bootloader Ver Sire Access Range Default Unt _ Majo
230. is command overwrites Timer in the RxP module s memo 9 7 14 Wait for an input combination before continuing single input Icon Dialogue t Multiple Cancel Input Input candition Input f Low Input 2 High Input 3 Falling Edge Input 4 Rising Edge Input 5 Input 5 Input Input 8 Motor Error x M A In Position Function Waits for a specified input condition to occur The next line in the program will not be executed until the input condition has been met If Input type is set to Single the command will wait for one of four things to happen on the specified input that the input tests as high that the input tests as low that the input transitions from high to low Falling Edge or that the input transitions from low to high Rising Edge The input is tested with 30 microsecond intervals JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 163 9 7 Graphic programming command reference 9 7 15 Wait for an input combination before continuing multiple inputs ma Icon b Dialogue Input type Operand t Single f And fe Or Cancel i Input 1 Don t care High High High High High High High High High High Input 2 Don t care Input 3 Don t care Input 4 Don t care Input 5 Don t care Input Don t care Input 7 Don t care 7 Input 8 Don t care
231. ity mode 2 Position mode 3 Gear mode 13 Zero search type 14 Zero search type 2 15 Safe mode Passive mode 0 In this mode the motor current is turned off and the motor will not react to any position velocity commands Velocity mode 1 When the motor is in velocity mode the controller accelerates the motor to the velocity in V SOLL V SOLL can be changed at any time and the move will decelerate accelerate accordingly It is permissible to change A SOLL and V START during a movement but the changes will first take effect after the motor has stopped Please note that if the motor needs to change direction it will decelerate and stop and the new A SOLL and V START will be activated Position mode 2 When the motor is in position mode the controller will always try to move until P IST P SOLL The movement will follow the profile specified by V SOLL A SOLL and V START P SOLL can be changed at any time and the motor will move accordingly V SOLL can also be changed during a movement It is permissible to change A SOLL and V START during a movement but the changes will first take effect after the motor has stopped Please note that if the motor needs to change direction it will decelerate and stop and the new A SOLL and V START will be active JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 117 8 3 MISS4x amp MIS4Sx Registers Gear mode 3 The GEAR mode works as posit
232. jects Data transfer exchange is always non synchronous Values greater than 4 bytes are transferred Normal transfer Values not more than 4 bytes are transferred Expedited transfer Basically an SDO is transferred as a sequence of segments Prior to transferring the seg ment there is an initialization phase where client and server prepare themselves for transferring the segment For SDOs it is also possible to transfer a dataset of up to four bytes during the initialization phase This mechanism is called an expedited transfer Download SDO protocol The download SDO protocol is used to write the values of the object directory into the drive JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 205 10 6 details of CANOpen Theory Client Indication Request Confirm Response 206 TTI088GB Upload SDO protocol The upload SDO protocol is used to read the values in the object directory of the drive Client Request Confirm TT1088GB 1 Initiate down load request 2 Initiate upload request 8 3 Initiate download response 2 Initiate upload response Only valid if e 1 and s 1 otherwise O If valid it indicates the number of bytes in d that do not contain data Bytes 8 n 7 do not contain data Only valid if e 1 and s 1 otherwise O If valid it indicates the number of bytes in d that do not contain data Bytes 8 n 7 do not contain
233. justing speed position acceleration etc In these modes of operation the motor is controlled to produce a velocity or position etc which is determined by and proportional to the voltage applied to the Analogue Input The Analogue Inputs share a common internal supply with the GND and P terminal and are not optically isolated from all other inputs and outputs The Analogue Inputs are pro tected against voltage overload up to 30V peak and have a built in filter which removes input signal noise See Analogue input filters page 20 Always use shielded cable to connect the source used to control an Analogue Input since the motor etc can easily interfere with the analogue signal and cause instability The Controller is equipped with 8 analogue to digital converters ADC which convert the detected analogue signal level The ADCs have a resolution of Obit In order to use the Analogue Inputs as 0 20 mA inputs a 250 1 resistor must be connected between 1 8 GND Please notice The number of available terminals available may vary de A pending at which motor type you are using Please the chapter Connector over view for the MIS23x page 32 or Connector overview for the MIS34x page 34 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 19 e 3 2 3 2 20 Analogue Inputs Analogue input filters The Intelligent MIS motors have 8 general purpose I Os that can be us
234. l position control ler Position controller with graphic program ming Option for CANbus CANopen DS 301 DSP 402 or DeviceNet under develop ment A dual supply facility is available so that position and parameters are maintained at emergency stop Gear mode MACmotor protocol so MACmotor and Quickstep motors can be connected on the same RS485 bus Command for easy PLC PC setup and communication Power supply 12 48 Fixed 1600 pulses rev Built in 6Bit SMC75 and 32Bit Uprocessor SMC85 with 8 In Out that can be configured as inputs PNP out puts or analogue inputs 5V serial and RS485 interface for set up and program ming MODBUS interface 9 6 to Mb communication Driver technology is improved as com pared to SMD73 and supply voltage is 12 48 When used with the QuickStep motor or mounted on any other step motor the ad vantages of the controller are e De central intelligence Simple installation No cables between motor and driver EMC safe Switching noise remains within motor Compact Does not take space in cabi net Low cost alternative to separate step or servo motor and driver Stall detect by means of magnetic encoder with resolution of up to 1024 pulses rev Interface possibilities From PC PLC with serial commands via 5V serial or RS485 e Pulse direction input Encoder output e CANopen DeviceNet 81 0 5 28VDC tha
235. le 9J 10 31n osqe 1 uone4edo ouo Ul uonisod pajysanbas pue y u1oq SuiSueuo JO pc pue ec V N De A1S J Le uondia sog sr ___ ____ ___ ____ SSCO 9 ssct AV IN JLV d Z z NN JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 260 7611 V N uo V N uo 19 5115 513645 Lew 15 1 MIS23x amp SMC795 Registers detailed 1 S18 1 Siu S SN Loe 1241 32110U Jaye aq sAeme 3nq Aj eu491U pasn 100 5 J93sI89J 514 Jopeo 100q 991 JO UuOISJ9A 941 Suin32ejnueuJ SULIND J03128uuoo y uo 1241 OI 3eUM 404J9 UI OS JOJOW y 5141 spaaeoxe snq 941 J snq 941 uo unuuixeuJ 94 y JO UOISIA3J 9941 Uns 2auo JO30UJ JY JO Jaquunu jenas 94 V CSIIN 9 CECSIIN 99 LECSIIN S9 GLOWS v9 edA1 1010UuJ 94 uondia seg SEA Ol YSE9T JOUINI 91 esoo 78291 JOUINI 9I 410 GESS9 0 1491 1008 UQOT XV
236. le mode In mode the motor will always move to a new position by turning in a positive direc tion So to move one step backwards it must instead move Turntable Size l steps forward In mode 2 the motor will always move to a new position by turning in a negative direction In mode 3 the motor will move in the direction that takes the smallest number of steps to reach the new position Note that the motor will not move at all if the new position in register P SOLL is either negative or larger than the value of register 127 Turntable Size 8 2 65 Turntable Size a a Description If turntable mode is selected in register 126 the number of steps needed for a full revo lution of the turntable is set in this register Note that the register P SOLL must always have a value between zero and the value in this register minus one Negative values are not allowed for P SOLL or Turntable Size 8 2 66 NL Mask Reg Name Size Access Range _ Default Unit MacTalk name NL MASK 16bit R W IO Mask Dedicated Inputs Negative Limit Input Description Selects which one of the eight pins to use for the dedicated function of Negative Po sition Limit Exactly one bit must be set and the IO pin must be configured in register 25 as an input Example If input 7 is to be used for the Negative Input Limit write 26 64 to this register JVL Industri Elektronik A S User Manual Integrated Stepper Motors M
237. led on the AFZUP Read Index 16bit R W 32768 Special Filter Setup screen 32775 Description This register makes it possible to read back the analogue input filter parameters for one analogue input at a time To select a new input write a value of to 8 to this register and wait for bit 15 to be set high When bit 15 has been set by the firmware the registers 102 106 have been loaded with the filter parameters currently used by that analogue input 8 2 45 Afzup_ConfMin 102 AFZUP Conf Min 16bit 0 1022 4888mV Confidence Min Description The minimum confidence limits for analogue inputs are set and read back using this reg ister in combination with the read and write command registers 100 and 101 If a new raw sample value is less than the value in this register it is simply discarded and the filtered input value in registers 81 88 will not change A value of zero in this register will effectively disable the minimum confidence check JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 97 3 2 MIS23x Registers 8 2 46 Afzup_ConfMax 103 AFZUP_ConfMax 16bit 1 1023 1023 4 888 mV Confidence Max Description The maximum confidence limits for analogue inputs are set and read back using this reg ister in combination with the read and write command registers 100 and 101 If a new raw sample value is larger than the value in this register it is simply discarded and the filtered
238. lization After the Reset Node instruction all objects 1000h 9FFFh are re set to the Voltage On stage Reset Communication This is an instruction for transition from Operational or Stopped to Initialization After the Reset Communication instruction all communication objects 1000h FFFh are re set to the initial state In the various communication states nodes can only be accessed via CAN Open using specific communication services Further the nodes in the various states only send spe cific telegrams This is clearly shown in the following table Initializing Pre Operational Operational Stopped Po Al Ll sg 2 Xx J sbo e J JD cx j _ O synchronization Object a _ emergency Object X X Network Managementabject 10 6 7 Error Control Services Two possibilities exist for performing Error Control Node Guarding Life Guarding Heartbeat Node Guarding Life Guarding With Node Guarding the CANopen master sends each slave an RTR telegram Remote Transmit request with the COB ID 1792 700h node ID Using the same COB ID the slave responds with its communications state i e either Pre Operational Operational or stopped The CANopen slave also monitors the incoming RTR telegram from the master The cycle of the incoming RTR telegrams is set using the Guard Time Object The number of RTR telegrams which can fail at
239. ls provide a simple and reliable interface which is 100 digital precise and offers immediate response When a pulse is sent the motor instantaneously moves step forward For example if the motor has a resolution of 200 steps revolution it will move 1 8 degrees By changing the frequency of the applied pulse signal it is possible to ac celerate the motor 214 SMD73 74 Bottom side Step motor drivers SMDxx MST001 Motor mounted with SMD73 TT2324 01GB By counting the number of pulses the motor s po sition can be determined without any error what soever The direction input is used to determine the motor s direction of rotation JVL s QuickStep motors with pulse direction interface offer the fol lowing advantages Very simple technology that is easy to under stand and apply High stability and low cost because the tech nology is simple with few components Only one cable with 8 wires is required so cabling costs are a minimum No controller in the control cabinet e All positioning and control is performed by the PLC so there is no duplication of software or cabling e Option Build into housing IP67 protection class for use in demanding environments Thermally protected against current overload and short circuit e Reacts instantaneously The motor starts within microseconds 5Vor 24V PNP NPN inputs ensure compatibil ity with any controller Step resolution of 200
240. m V SOLL 16 bit RPM Sets up the desired velocity 200h The motor rotates the Mode Reg 16 bit Sets the motor in passive mode How to use CanOpenexplorer After startup the name and details of the HW interface such as PCAN USB should ap pear upper left When you turn on a motor CAN node after having started CanOpenexplorer the Data Window large centre right will contain a message with the number 0x7xx where xx is the node ID For example 0x704 will indicate node 4 Set the Node ID field top centre to that value 4 Ensure that the correct EDS file is loaded The program loads a hard coded default file either smc75 eds or mac00 fc eds It is also possible to load another EDS file by writing the file name in the EDS file field top centre and pressing the load button Note that the EDS view large centre left panel will add the new file at the bottom but will not clear any existing file s that are loaded Normal operation will be to select an object in the EDS view pane and press either R for read or W for write Pressing R should read the value successful if no error pops up Pressing W for write will pop up a small window in which the present value is displayed in both decimal and hex It is then possible to write a new value either in decimal or hex using Ox prefix such as 0x185 to enable the first on node 5 by clearing the high bit If the Add to list checkbox is checked the object will be added to
241. male IO 2x 4 pin male D Ethernet Ethernet IP EP MIS34x 4 pcs M12 5 pin male power 17 female IO 2x 4 pin male D Ethernet Profinet FB MIS34x 4 pcs M12 5 pin male power 8pin female R5485 12 female IO Antenna Wireless Bluetooth EL MIS34x 4 pcs M12 5 pin male power 17 female IO 2x 4 pin male D Ethernet Powerlink EW MIS34x 4 pcs M12 5 pin male power female R 3485 12 female IO Antenna Wireless LAN AA No magnetic chip Only specified if more to follow H2 Magnetic encoder feedback 256x4 pulses rev Only SMC75 SMC85 MIS23x and MIS34x H3 Absolute multiturn encoder magnetic feedback Only SMC85 and MIS34x SMC Examples SMC SMC SMC SMC SMC SMC SMC 85 75 75 75 75 75 75 gt gt gt gt gt 1 03 AC H1 AA 2 AC H2 M7 Me H2 AA 1 None 5 pin Molex motor connector mounted on same side as other connectors Cable lerght in m Only Wx models Mounted with 1 pcs WGO09xx and 1 pcs WG10xx Steppermotor controller only PCB No housing anc No encoder chip Steppermotor controller only PCB CAN Open No housing and encoder chip Stepper motor controller only PCB with magnetic encoder chip type H2 mounted No housing Stepper motor controller only PCB with Fieldbus CANopen and magnetic encoder chip type F2 mounted No housing Stepper motor controller in a box with connector M7 and Devicenet Stepper motor controller in a box with co
242. mperature offset Description Temperature measured inside the motor electronics The approximate temperature in degrees Celsius is calculated from the value in this reg ister using the formula Tc 2 27 Value 8 3 23 Min_P_IST Reg Name Size Access Range _ Default Unit MacTalk name Description Position limit for movement in the negative direction The motor can be configured to stop automatically when it reaches this position JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 123 8 3 MIS34x amp 543 Registers 8 3 24 Max_P_IST Reg Name ____ Size Access Range __ Default Unit MacTalk name Description Position limit for movement in the positive direction The motor can be configured to stop automatically when it reaches this position 8 3 25 Acc Emerg Reg Name Size Access Range Default Unit MacTalk name _ 32 ACC EMERG 32bit 1 65535 10000 9 54 RPM s2 Error Acceleration Description The motor will use this acceleration during an emergency stop 8 3 26 Err Bits 35 ERR BITS 32bit RW Specal Emos Description Error bits Bit 0 General error Will always be set together with one of the other bits Bit Follow error Bit 2 Output driver error Bit is set if one of the outputs is short circuited Bit 3 Position Limit error Bit 4 Low bus voltage error Bit 5b Over voltage error Bit
243. mple If input 2 is to be used for the Home Input write 21 2 to this register 8 3 69 CAN Setup1 133 CAN Setup 32bit 32bit 35 32bit Register Description Register 33 holds the user selectable 32 bit register number that is transferred in PDO22 or PDO4 Beckhoff Please observe that this is not working with DSP402 Example Register 33 10 will transfer register 10 IST actual position 32bit value in PDO22 or PDO4 8 3 70 CAN Setup2 134 CAN Setup2 32bit 32bit 170 ______ 32 bit Register Description Register 34 holds the user selectable 32 bit register number that is transferred in PDO22 or PDO4 Beckhoff Please observe that this is not working with DSP402 Example 1 33 5 will transfer register 5 V IST actual velocity 32bit value in PDO22 or 4 136 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MISS4x amp 543 Registers 8 3 71 Input Filter IVlask a eae eae CUN 1 FILTER digital input Description This register controls filtering of each of the eight pins that are used as digital inputs If the bit corresponding to the input number is set in this register the input value will be filtered to a new logical level is only accepted after that level has been measured on the hardware pin for the number of milliseconds specified in register 136 the bit is not set the input will be updated direc
244. mpt before testing whether the encoder position is within the target window as defined in register 33 This waiting time is often necessary to allow mechanical oscillations to die out 8 3 54 551 SETUP2 MacTalk Range name 25bit 100kHz frequency pre Prepare time 55 Setup2 32bit R W 16 bit pare time Clk to Data 100 5 Description Register 11 551 Setup2 16 bits The low byte selects the prepare time in micro sec onds at the start of an SSI transfer corresponding to tl in the figure The valid range is to 255 corresponding to to 256 microseconds 8 3 55 Sample 1 4 Ea E Description Up to four registers can be set up to be sampled into buffers for diagnostic purposes These registers define which registers are sampled All of the registers 1 255 can be sampled A value of zero in any of these four registers will cause the corresponding sample buffer to contain zeroes See registers 116 119 for more information on the sampling system Most users will use MacTalk to handle sampling 8 3 56 Cnt REC CNT 32bit RW Description This value specifies the number of samples to take for each of the sampled registers selected in registers 12 115 This value must never be set larger than the value in the read only register 119 Sampling will stop automatically after the specified number of samples has been taken 132 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 3
245. n they are mapped to object indexes 2012 and 2014 hex with the sub index equal to the register number 1 255 Use index 2012 for the 32 bit registers and index 2014 for the 6 bit registers For example to access register 3 P_SOLL use index 2012 subindex 3 To access reg ister 5 V SOLL use index 2014 subindex 5 This is described in more detail in CAN open Introduction page 173 All of the registers can be accessed over CANopen with the same Read Write access re strictions as when using the RS485 interface Some registers are tagged as R for Read only There are different reasons for this such as protecting the serial number from being changed or indicating that the value in regis ters such as analogue Inputs will never be read by the motor but always overwritten us ing the latest sampled values In the following sections and examples position velocity and acceleration values are based on a 200 step motor running with 1 8 steps having 600 increments per revolution in total Due to the fact that the MIS23x and SMC75 is based on a 6bit microprocessor and the larger MIS34x MIS43x and the SMC85 are based on a 32 bit microprocessor there are some minor differences between the mentioned product families To avoid any misunderstandings this chapter is therefore divided into 2 sections Chapter 8 2 is containing the register descriptions for MIS23x and SMC75 Chapter 8 3 is containing the register descriptions for MIS34x MIS43
246. n AutoCorrection mode bit 2 will be set to reflect if the internal encoder position is within IN POSITION WINDOW steps from the target position P SOLL a physical In Po sition Also bit will be set when AutoCorrection is active Higher layer software can use this bit to detect when AutoCorrection has either completed or given up e Register 124 SetupBits bit can be set to have the firmware maintain the InPhysi cal Position bit in register 25 all the time also during a movement If this bit is not set the InPhysicalPosition bit will only be maintained after the motor has stopped moving Continued next page JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 59 5 2 60 Auto Correction e Register 137 INPOS Mask is used to select the outputs to reflect the status of the two bits InPosition bit 4 in the STATUSBITS register and InPhysical Position bit 2 in the STATUSBITS register The 8 lowest bits will select the mask for InPosition and the 8 highest bits will select the mask for InPhysicalPosition Any combination of bits can be set to have zero one or more outputs reflect each of the two InPosition bits The MacTalk program only supports setting a single output for each bit however since this is the normal case JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 3 Absolute position back up system 9 3 1 The absolute position backup
247. n a zero search has been completed See Mode Reg page 85 for a list of possible modes 8 3 29 P Home Reg Name Size Access Range __ Default Unit MacTalk name _ P HOME 32bit 291 9314 0 Steps _ Zero Search Position Description The zero point found is offset with this value 8 3 30 V Home 4 V HOME 32bit 1023 1023 Zero Search Velocity Description The velocity used during zero search Set a negative velocity to search in the negative direction JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 125 8 3 MISS4x amp 543 Registers 8 3 31 Home mode 42 HOMEMODE 32bit 0 13 14 0 1 Zero Search Mode Description Selects the zero search that should start on power up A value of 13 will use sensor type while a value of 14 will use sensor type 2 8 3 32 Absolute encoder position a eee Description This is the absolute magnetic encoder position this is only a singlet urn value and the resolution is Obit That is 360 degree 1023 count approximately 0 35 degree 8 3 33 SSI encoder value en Description This is the actual encoder position data received from the external SSI encoder This value is typically gray coded The firmware offers the possibility to do the Gray conversion but requires that some RxP programming is done as this feature is only available as RxP program command Example An SSI encoder is chosen us
248. nc d 6 27 Not IWL Ind C fi GRAFIK rzrzrzszszszstttttzt o Press W on the keyboard The following screen appears Write Value Object Indes 052012 Sub Index 0502 Value jw Add to list Cancel 7 02 in the window and press OK 8 Click on the sub register 0x05 which is the register to choose the velocity the motor will use Press W on the keyboard type 100 in the window and press OK The value 100 is in RPM 9 Click on the sub register 0x03 which is the register to choose the distance the motor will run Press W on the keyboard type 20000 in the window and type OK The val ue 20000 is in Steps 184 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 3 10 3 3 Using CanOpenExplorer Now the motor shaft will rotate slowly until the motor has counted 20000 Encoder puls es If you want to stop the motor then click on sub register 0x02 and write 0 in the win dow and the motor will switch to passive mode If using other software the test could be described as using object 2012h Sub register Operation Value in position mode 05 V SOLL 16 bit Sets up the desired velocity 100h The motor rotates the P SOLL 32 bit Steps desired numbers of 20000 encoder pulses Mode_Reg bit Sets the motor to passive mode T the motor with higher velocity 02h Mode Reg 16 bit Set up the motor 02h in position mode
249. ndex and sub index not used Reserved for further always 0 use always 0 Abort SDO transfer protocol SDO tasks which the SMC75 controller cannot process are responded to using an abort SDO protocol If the module does not respond in the expected time the CANopen mas ter also sends an abort SDO The following figure shows an abort SDO transfer protocol Client Server Server Client 0 Request s x Indication TTI090GB There are various abort codes in CANopen These are listed in the table below Abort code Description 0503 0000h Toggle bit not alternated 0504 0000h SDO Protocol timed out 0504 0001h Client server command specified not valid or unknown 0504 0002h Invalid block size block mode only 0504 0003h Invalid sequence number block mode only 0504 0004h CRC error block mode only 0504 0005h Out of memory JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 207 10 6 IMore details of CANOpen Theory 0800 0022h oe cannot be transferred or stored to the application because of the present device Object dictionary dynamic generation fails or no object dictionary is present e g object 0800 0023h dictionary is generated from file and generation fails because of a file error 10 6 5 SYNC Synchronisation Object SYNC producer sends the synchronization object cyclically a broadcast telegram The SYNC telegram defines the basic clock cycle of the network
250. needs to change direction it will decelerate and stop and the new A SOLL and V START will be activated Position mode 2 When the motor is in position mode the controller will always try to move until P IST P SOLL The movement will follow the profile specified by V SOLL A SOLL and V START P SOLL can be changed at any time and the motor will move accordingly V SOLL can also be changed during a movement It is permissible to change A SOLL and V START during a movement but the changes will first take effect after the motor has stopped Please note that if the motor needs to change direction it will decelerate and stop and the new A SOLL and V START will be active JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 85 3 2 MiS23x Registers Gear mode 3 The GEAR mode works as position mode but has an additional feature The input on the external encoder is multiplied with GEARI GEAR2 and added to P_SOLL Any remain der of the result is saved and used next time the external encoder changes The result is that this mode can be used as an electronic gear When using gear mode it is not recommend to set V START below 10 rpm This can gives problems at low speeds because the motor will lag behind when doing the first step It will then accelerate in order to catch up NOTE Time from the first input pulse to the first step is typically 30 60 if not on standby 72 1025 if on standby Zero s
251. ng of the Controller phase current must not exceed 2 83A when the phases are connected in parallel It should be noted that the lower the self induction of the motor the better since this influences the torque at high speeds The torque is proportional to the current supplied to the motor The applied voltage is regulated by the Controller so that the phase current is adjusted to the selected value In practice this means that if a motor with a large self inductance e g 100mH is used the Controller cannot supply the required phase current at high speeds high rotational frequencies since the output voltage is limited JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 11 4 How to connect in general 11 4 1 MIS23x M12 connections M12 connectors 5 pin female 5 pin male 8 pin male 2 4 6 5 All connectors Front view TT2143GB Example of SMC75 controller connections 4 RS485 5 pin female l O5 8 8pin female SA _ 5 pole connector Pinno Colour __ Colour __ 1 1 White 3 Be a a Colour code for standard cables JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 223 11 5 Quick Start SMC 75A1MxAA a 5 pin female AA A l 2 A NC o o Step motor 5 pin male 5 pin female EI Ng Cable RS485 M12 1 5 5 PC wi
252. nik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 4 1 Using the MacTalk software 4 1 9 Scope Function The Scope function is an excellent and necessary function for testing a new application or finding errors in an existing system The Setup has to be selected to set up the Scope function correctly before use Most reg isters in SMC75 can be selected for viewing different trigger functions can be selected saving and loading scope pictures is possible etc Mot Programme 5950 Updates lt gt pr Sa 3 ab e Save Sever fash eros Fite set COM scan Man UO Setup Advanced Scope Progurrening Scope preliminary this luncton s stil under development Sampled deta Sist 280 0 mt 25 0 made Actual velociy 0 50 RPH Adv amp bot 500 C 100 Courts dr Setup 5ample setup Trig type C Single move Distance 10000 and backward mone distance 15000000 Manual C Regsler condhian 12 Actual velocity gt 10 REM Edge tngged f Bitcondition In position C High Low Time Samples 512 Total sample tme 512 me Trg poit sebup gt Time belore me Time after 512 ms Charrels Channel 12 Actual velocity Channel 2 Channel 3 Channel 4 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 55
253. nnector M6 and Canopen and H2 magnetic sensor Stepper motor controller on ly PCB without Canopn without enc chi with special Molex connector JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 10 MST Motor Ordering Information Quickstep MST motor selection chart lala mld rmn MST Motor Stepmotor with housing but without electronics 1255 81 82 110 111 114 170 171 172 173 174 175 176 230 231 232 234 340 341 342 432 513 NEMA11 1 2 stack 32mm NEMA11 1 stack 32mm NEMA11 2 stack NEMA 17 1 2 stack NEMA 17 1 2 stack NEMA 17 1 2 stack NEMA 17 1 2 stack NEMA 17 1 2 stack NEMA 17 1 2 stack NEMA 17 0 8Nm NEMA23 stepmotor NEMA23 stepmotor NEMA23 stepmotor NEMA23 stepmotor NEMA34 stepmotor NEMA34 stepmotor NEMA34 stepmotor NEMA43 stepmototor 51 stepmototor For 3 0Amp driver controller end motor 200step rev For 6 0Amp driver controller end motor 200step rev For 9 0Amp driver controller end motor 200step rev For 12 0Amip driver controller and motor 200step rev For 3 0 Amp driver controller and motor 400step rev T 0nvoour For 6 0 Amp driver controller and motor 4 00step rev For 9 0 Amp driver controller and motor 400step rev 1 6 35mm shaft and IP42 Round shaft 2 6 35mm shaft and IP65 motor shaft and body IP66 Rear end and connector and speciel painting 3 10 0 mm shaft and IP42 4 10 0mm shaft and IP65 motor shaft and body
254. ns are meaningful it is preferable to compare registers that hold the same type of information in the same binary format In the example above two position registers are compared Both hold position information both are 32 bit wide and both measure position in encoder counts Such a comparison will always yield meaningful predictable results For other types of registers see the relevant register sections 172 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 CANopen Introduction This chapter deals with JVL s Step motor controller SMC75 which is used with the MIS231 MIS232 and MIS234 motors a CANopen network The chapter covers the following main topics General introduction a section with general information about CANopen See section 10 1 1 to section 10 1 5 Setting up the Baud rate node id and termination of the CAN bus Covers also the wiring of the CAN bus See section 10 2 1 to section 10 2 6 Using CanOpenExplorer See section 10 3 1 to section 10 3 3 Survey of Communication specific objects and manufacturer specific objects in the 0530 1 standard Communication objects consist of the general information about the settings in the module while the Manufacturer specific objects consist of the settings of input output and the motor parameters This section also covers the settings of the transmit and receive PDOs in the module See section 10 4 1 to section 10 4 6 Surv
255. nsor signal depends on how far the sensor is located away from the measuring item and on the velocity The index pulse can be used with or without the sensor This must be defined on the advanced tab If the MIS motor is set to use the index pulse the MIS motor always runs to the sensor first and then index pulse The sensor must be placed at the right position This can be done using MacTalk Select the type of sensor movement to be used in the main tab screen In the advanced tab choose not to start the program automatically after reset Then select Save in Flash Go to the Test tab and press Start Zero Search The motor now rotates at the zero search velocity towards the sensor and when this has been found the motor continues to the index pulse The circle at the Test tab indicates the location of the index pulse according to the sensor The index pulse must be in the green area If the index pulse is in the red area the sensor must be moved slightly and the procedure repeated 76 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Error Handling Error Handling Use these fields to define error limits for the maximum follow error etc Error handling Follow error 0 Counts Position limit rin 0 Counts Position limit mas 0 am Counts Error acceleration 3997 am RPMS Min bus voltage 15 am Vals TT2174GB The MIS motor contains 5 fundamental parameters which are used for protection relate
256. o be sampled into buffers for diagnostic purposes These registers define which registers are sampled All of the registers 1 255 can be sampled A value of zero in any of these four registers will cause the corresponding sam ple buffer to contain zeroes See registers 116 119 for more information on the sampling system Most users will use MacTalk to handle sampling 8 2 56 Cnt LIEN A Lue RECCNT Description This value specifies the number of samples to take for each of the sampled registers selected in registers 12 115 This value must never be set larger than the value in the read only register 119 Sampling will stop automatically after the specified number of samples has been taken 100 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MiS23x Registers 8 2 57 S_Time ee SN STIME _____ tobit RW Description This value selects the time in milliseconds between samples of the registers selected in registers 1 12 115 8 2 58 S Control LO C 118 S CONTROL ___ RW __ ____ Description This value controls the sample system It can assume three different values A value of zero is set by the firmware after all sampling has completed A value of one will initialize the sample system A value of two will start a new sample sequence and set this register to zero at comple tion The sampled values are read back using t
257. o slope limitation needed result 100 8 64 95 625 56 64 96 171875 units Sample 80 100 Confidence OK no slope limitation needed result 100 8 64 96 171875 56 64 96 65 units Sample 81 100 Confidence OK no slope limitation needed result 100 8 64 4 96 65 56 64 97 07 units JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 21 e 3 Analogue Inputs Sample 82 100 Confidence OK no slope limitation needed result 100 8 64 97 07 56 64 97 44 units Sample 83 100 Confidence OK no slope limitation needed result 100 8 64 97 44 56 64 97 76 units The following samples produce the following results ending up with the input value 100 0 98 04 98 28 98 49 98 68 98 85 99 00 99 12 99 23 99 33 99 41 99 48 99 55 99 60 99 65 99 70 99 74 99 77 99 80 99 82 99 84 99 86 99 88 99 90 99 9 99 92 99 93 99 94 99 95 99 95 99 96 99 96 99 97 99 97 99 98 99 98 99 98 99 98 99 99 99 99 29 99 ptos 100 0 22 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 4 2 4 1 User Outputs User outputs The MIS motors has 8 inputs outputs IO s that each can be set individually to input out put or analogue input 0 5V via MacTalk or software commands This means that it for ex ample is possible to have 4 inputs 3 outputs and one analogue input pending at which motor type you are
258. of the analogue inputs 4 8 can be read Bye p p b p b p p Data ANALOGUES ANALOGUES ANALOGUE ANALOGUES Object _ 2014 sub 9 2014 sub 94 2014 sub 95 204 sub 96 Transmit PDO 4 With this PDO the actual velocity can be read Be p p p bp pp Data vist Reserved Reserved Reserved Res Res Res User selectable 16 bit User selectable 32 bit register exc 2014h sub 18 register exc ENCODER_POS STATUSBITS register16 register 25 194 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 5 Objects used in the DSP 402 standard 10 5 1 DSP 402 Support Introduction The SMC75 supports the DSP 402 standard from CiA http www can cia com Please refer to this standard for details of the functions The DSP 402 is only a standard proposal and might be changed in the future JVL there fore reserves the right to change future firmware versions to conform to new versions of the standard Not all of the functionality described in DSP 402 is supported but all mandatory func tions are supported The following operation modes are supported Profile position mode Velocity mode e Homing mode Preconditions The start mode of the motor must be set to passive No power up zero searches must be selected When using the DSP 402 mode manipulating parameters with object 2012h or 2014h can corrupt the behaviour of the DSP 402 functions Also be aware that mani
259. ogram or via the serial interfaces See also the sections on FastMac commands 8 3 36 An Reg Name Size Access Range Default Unit MacTalk name Description These four general purpose Acceleration registers are referred to as Al A4 and can be used to change the acceleration in several different ways either from the user program or via the serial interfaces See also the sections on FastMac commands 8 3 37 Tn 77 80 32bit 0 511 5 87 mA Current n Tn Description These four general purpose Torque registers are referred to as Tl T4 and can be used to change the velocity in several different ways either from the user program or via the serial interfaces See also the sections on FastMac commands They select the current in the motor windings used during movement JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 127 8 3 MISS4x amp MIS4Sx Registers 8 3 38 Analogue Filtered 81 88 Analogue Filtered 32bit R 0 1023 4888mV Description These eight registers hold the software filtered analogue value of each of the eight 5 1 to IO 8 Their values are updated every ten milliseconds See the AFZUP xx reg isters 100 106 for the filter parameters Important Also read the section on analogue filters in this manual To use the unfiltered values of the inputs for faster updates but with no noise immunity use registers 89 96 instead Analogue
260. ommon ground at Only MAC50 141 with the power supply B2 or B4 Optional O MIS23x QuickStep motor or SMC75 Controller Power Supply Control Voltage ud Q TT2220GB 2 1 7 Select Your Power Supply only MIS23x motors We recommend the use of 48VDC or the highest possible voltage to supply the motor As seen in the chart below it is clear that the torque below 100 RPM is independent of supply voltage But above 300 500 RPM the torque at 24 is half compared to the torque at 48VDC Additionally higher voltage gives better current and filter regulation and thereby better performance If there is a tendency for motor resonance a lower supply voltage can be a solution to the problem 14 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 2 Inputs 2 2 1 Inputs The Quickstep motors has 8 inputs outputs IO s that each can be set individually to in put output or analogue input 0 5VDC via MacTalk or software commands See Using MacTalk page 47 for setup This means for example that it is possible to have 4 inputs 3 outputs and one analogue input Please notice The number of available IO terminals available may vary de A pending at which motor type you are using Please the chapter Connector over view for the MIS23x page 32 or Connector overview for the MIS34x page 34 Input output functional diagram Overcurrent protection Digital input Analog input o 2 2 2
261. or one or more analogue input filters Then the lower eight bits in this register are set to select which inputs the parameters in registers 102 106 should control The firmware will detect this and copy the parameter values from registers 102 106 to internal storage Once this has been completed the firmware sets bit 15 in this regis ter to show that registers 102 106 are free to receive new values for programming the remaining inputs with other filter parameters To use the same filtering for all analogue inputs this register can be loaded with 255 hex FF 8 3 44 Afzup Readindex Eit 1 8 Ld handled on the AFZUP Read Index 32bit RAN 32768 Special Filter Setup screen 32775 Description This register makes it possible to read back the analogue input filter parameters for one analogue input at a time To select a new input write a value of to 8 to this register and wait for bit 15 to be set high When bit 15 has been set by the firmware the registers 102 106 have been loaded with the filter parameters currently used by that analogue in put 8 3 45 Afzup ConfMin 102 AFZUP Conf Min 32bit 0 1022 4 888 Confidence Min Description The minimum confidence limits for analogue inputs are set and read back using this reg ister in combination with the read and write command registers 100 and 101 If a new raw sample value is less than the value in this register it is simply discarded and the filtered input value in r
262. orward If P IST 231 100 2147483548 and P SOLL is set to 231 100 2147483548 the motor will move 200 steps in the positive direction 86 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 2 5 MIS 3x Registers V SOLL 5 V SOLL 16bit 1023 1023 Max velocity Description The maximum velocity allowed When in velocity mode the motor will run constantly at Example this velocity Specify a negative velocity to invert the direction This value can be changed at any time V_SOLL 250 will limit the velocity to 250 RPM A SOLL Description The acceleration deceleration ramp to use If this value is changed during at movement Example 8 2 7 it will first be active when the motor stops or changes direction A SOLL 105 will set the acceleration to 1000 RPM s Run Gurrent RUN CURRENT 16bit 0 511 5 87mA Running Current Description This register sets the running current for the motor 5 1 1 is the maximum possible cur Example rent corresponding to RMS The running current is active when the motor is running and after it stops until the specified standby time has elapsed See Standby Time page 87 When the RUN CURRENT is changed the new motor current will be set instantly RUN CURRENT 100 will set the running current to 0 59A RMS Standby Time 8 STANDBY TIME 16bit 1 65535 Standby Time Description This register sets the standby time T
263. osition oet position Send fastMAC command Q C2 Q oO O Binary command 1 The time for all move commands is shown without waiting for in position 286 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 5 IMore about program timing The firmware is structured so that one program instruction is executed for each pass of the main loop which takes approximately 30 microseconds Us without CANopen without serial communications and when the motor is not running The Main Loop Time is termed MLT in the following text A single program line in MacTalk can generate more than one instruction For example assigning a constant value to a register uses two instructions First load the value to the internal stack and then Store from the stack to the target register The above table in sec tion 15 4 reflects this operation The main loop time will vary depending on a number of factors The motor velocity the serial communications speed and load whether CANopen is installed and the CANopen communications speed and load Simply running the motor will load the motor up to 17 so the becomes 37 at full speed 1023 RPM Serial communications on the RS 485 line can load the motor up to 1 at 19 200 baud which is insignificant but at the maximum baud rate of 921 600 the communications can load the motor up to 4596 which would result in an of 60 Us Wh
264. osition information and oth er information is instantly saved to flash memory Save Threshold Voltage selects the voltage threshold that will trigger the flash save op eration and stop all other motor operation When register 142 has the value 12 the scaling unit of register 141 is the same as register 97 Bus Voltage 1023 111 4 The register 142 has the values of 1 8 or 81 88 the scaling unit of register 141 is the same as registers 81 96 1023 5 0V The scaling of this value follows the one of the Acceptance Voltage register 39 8 2 78 Analogue input selection Analogue Input 16bit 16bit Analogue Input Selection Selection Description Analogue input selection selects which analogue input to use for measuring the power supply It can be to 8 for analogue inputs IO to 108 using the unfiltered values for fast response 81 to 88 for analogue inputs IO to 108 using the filtered values for noise immunity 2 for the bus voltage used for motor supply and finally 13 for measurement from HW rev 1 7 and up Any other value will disable the flash backup system When running the motor from 30 Volts or less it can be convenient to connect the bus voltage with the control voltage CV supply and use the value 12 in register 142 to mon itor the control voltage When running the motor from 48 Volts this is not allowed and can damage the controller board if voltage exceeds 30V 8 2 79 P New
265. oth terminals are connected in order to split the supply current in 2 terminals and thereby avoid an overload of the connector Continued next page 38 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x CN2 RS485 IN OUT I O M12 12pin female connector JVL Cable Isolation Signal name Description WI1009M12 group i M17TxxN see note 1 RS422 I O terminal 1 1 Ground intended to be used toghether with the G Blue other signals in this connector A RS422 I O terminal A1 ND 1 1 2 5 2 3 4 5 RS422 terminal B1 7 I O channel 2 Can be used as input or output lO I O channel 5 Can be used as input or output CVO Supply output Connected internally to the CVI rm DO NOT connect 30V to this terminal channel 6 Can be used as input or output terminal in the PWR connector Violet 10 lO7 I O channel 7 Can be used as input or output 11 Grey pink I O channel 8 Can be used as input or output 12 Red blue 1 CN3 RS485 I O connector M12 8pin female connector JVL Cable Isolation Signal name Description WI1000 M12 group O2 channel 2 Can be used as input or output 1 1 1 1 1 mj a LN Brown Green Yellow 1 RS422 I O terminal B1 Ground intended to be used toghether with the GND other signals in this connector M8TxxN See note 1 RS422 1 0 terminal A1 RS485
266. ously moves step forward For example if the motor has a resolution of 200 steps revolution it will move 8 degrees By changing the frequency of the applied pulse signal it is possible to accelerate the motor By counting the number of pulses the motor s po sition can be determined without any error what soever The direction input is used to determine the motor s direction of rotation JVL s QuickStep motors with pulse direction interface offer the fol lowing advantages Very simple technology that is easy to under stand and apply High stability and low cost because the tech nology is simple with few components Only one cable with 4 wires is required so cabling costs are a minimum No controller in the control cabinet All positioning and control is performed by the PLC so there is no duplication of software or cabling Robust IP67 connector and IP55 motor housing for applications in demanding environments Thermally protected against current overload and short circuit Reacts instantaneously The motor starts within microseconds 5V or 24V PNP NPN inputs ensure compatibil ity with any controller Step resolution of 200 400 800 1000 or 1600 pulses revolution Supply voltage 12 28 VDC Possibility for encoder feedback All the required electronics are integrated in the motor itself single compact unit The motor be supplied with the connector either on the back or side of the hou
267. overview LD0053 detailed which can be down loaded from www jvl dk JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 243 14 3 244 Brakes and shaft reinforcement 2 brake units are available for the MIS23 1 and MIS232 motors MIS234 has a 10 mm out put shaft and the MAB23 can therefore not be mounted The 23 01 offers 0mm output shaft and MAB23x 02 offers a 6 35mm output shaft Both types can be mounted directly on all the MIS231 and MIS232 motors and require 24VDC applied to release the motor See also the data sheet LD0055 xx which can be downloaded from www jvl dk JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 Appendix JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 245 MIS 3x 5 5 75 Registers detailed 15 1 Aue peSueuo aq ued 54 5 siy 0 9AOUJ 4030Uu y uonisod UOHIsOd u yM uonisod paursep 941 50915 12 1 27 195 1 0 ajes c d 21295 0197 T 9dA1 21295 0197 AjjeusazU pesn 4015 Jear uonisod A120 9A ST VT 9po N 1u3J4nj Jo y 50105 AV GLOWS s JEU 91e2Ipul 01 195 SI wun amea s uew stem Aeq 5115
268. p ConfMin 97 129 Afzup MaxSlope 98 130 Afzup Readlndex 97 129 Afzup WriteBits 97 129 An 95 127 AnalogFiltered 96 128 Analogln 96 128 Available 110 142 Bootloader Ver 110 142 Busvol 96 128 Checksum 109 141 Command 91 123 Encoder Pos 89 121 Encoder Type 97 129 Err Bits 24 92 124 Error Mask 105 137 Ext Encoder 111 143 Ext Encoder Vel 112 144 Fbus Baud 111 143 Fbus Nodeld 111 143 FilterStatus 98 130 Flwerr 90 122 Flwerrmax 90 122 GEARI 10 67 86 89 118 121 GEAR2 10 86 89 118 121 Group ld 108 140 Group Seq 108 140 Hardware Rev 109 141 Home Bits 102 134 Homemode 94 126 Index Offset 101 133 Inpos Mask 105 137 Input Filter Cnt 105 137 Input Filter Mask 105 137 Inputs 90 122 losetup 90 102 122 134 Max P Ist 92 124 Index Max Voltage 110 142 Min Busvol 96 128 Min P Ist 91 123 Mode Reg 18 85 117 185 190 1 93 Motortype 109 141 My Addr 109 141 NL Mask 103 135 Notsaved 110 142 Option Bits 111 143 Outputs 90 122 P Home 93 125 Ist 88 90 107 120 122 139 1 91 194 P New 95 107 127 139 P Soll 10 59 67 171 190 193 Pn 95 127 Prog vers 85 117 145 PulseDirMask 99 131 PulseDirMod 99 131 Register descriptions 81 86 93 97 100 106 118 125 129 132 138 Register overview 82 84 114 116 Run Current 87 119 190 193 Serial Number 109 141 Setup Bits 102 111 134 143 Standby Current 88 120 Standby Time 87 119 Startmode 93 125 Stat
269. patible Output Source Current Up to 350 mA per Channel See Chart section 2 4 Over Temp Short Circuit Transient Over Voltage Inductive Clamp Input Filter 0 1 or to 100 ms Communication Type Standard RS485 Type Optional RS422 2 6 to 921 6 kbps aee Optional DSP402 V2 0 05301 VS3 0 2 08 Active Isolation None Node Guarding heartbeat SDOs PDOs Static mapping Number of settings gt Open Loop Configura tion per revolution _________ Internal rere magnesite le _ absolute rev n MEAN us 5 Accel Deceleration 3x10 RPM s 9 54 RPM s Electronic Gearing Range Resolution Threshold 0 00003 to 32768 32 Bit External Clock In Software Program Storage Type Size Flash 3072 Bytes 2248 Bytes 32 bits User program variables Up to 224 gt lt lt gt AND OR XOR NOT amp Branch amp Call General Purpose I O con you Plus Limit Minus Analogue In F tictioHs eneral Purpose Outputs Moving Fault general Purpose Party Mode Addresses 254 Encoder Functions Stall Detection Position maintenance Find Index Operating storage Thermal temp Ambient 0 to 40 C 32 104 F 20 to 85 C 4 to 185 F Humidity 90 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 227 12 3 SMC75 Technical Data Only SMC75 12 3 1 SMC75 Technical data Condition Power supply P P
270. peed in units of 10 kHz The valid range is 0 to 59 corre sponding to 10 kHz to 600 kHz Register 111 SSI Setup2 16 bits The low byte selects the prepare time in micro sec onds at the start of an SSI transfer corresponding to tl in the figure The valid range is 0 to 255 corresponding to to 256 micro seconds The High byte is not currently used but is reserved for the minimum waiting time between reads JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 5 4 SSI encoder sensor interface Register 47 SSI Data 32 bits The data from the last SSI transfer are placed at the low bits in this register The high bits are always set to zero Register 24 Command 16 bits Write a value of 321 decimal to this register to per form a single SSI read operation This register will automatically be set to zero after the command has completed The default values select 25 data bits 100 kHz and a tl value of 100 us SSI and Mactalk From Mactalk all configurations and settings are accessible Choosing the Advanced Tab gives access to the SSI encoder value and the SSI en coder setup SS encoder value Command 321 for sample 55 Encoder value 0 Counts 551 Encoder setup Number of Data bits zd Bits Clock frequency 4 Value Prepare time Clk to Data 150 us Iw Disable intr when reading 551 The SSI encoder value is sampled by typing in the 321 into the command field Becau
271. pin female SSI 8 pin male Versions with positioning and speed control Quick Step 12 Power 101 4 105 8 RS485 CANopen 551 Encoder Connector Male 5pin RS485 Female Female 5pin DeviceNet Male overview Female 8pin Male 8pin MIS23xAZM2yy75 X X __ RS485 410 CANopen RS485 810 IO5 Zero 5485 CAN SHLD setting Not used CAN L B Data in X lOS lO2 MIS23xAzM3yy75 x X gt amp 4854 __ X _ 65485 80 DeviceNet RS485 810 IO6 Counting A RS485 CAN V Direction B RS485 CAN GND Clock A X o 2xRS485 5560 GND IO RS485 A 12 28VDC P GND GND 10 B RS485 A RS485 ____ ____ Data in ____ A _ CVO Out WI1008 WII008 WIIO08 _ 11008 MI2M8SS 2 5551 12 5551 MI2MBSSI WI 1000 WII000 WI1006 _ 1000 MI2M8TO5N MI2MSTOSN MI2F5SOSR MI2MBTOSN Only gt 50pcs order x I INm 2 1 6Nm 3 2 5Nm z 6 35mm shaft 3 10 0mm shaft only if x 3 NO No encoder H2 built in encoder Not used Out WII008 MI2M8SSI WI 1000 MI2M8TO5N WI1008 solder terminals MI2F5SSI WI 1000 MI2F5TO5N MIS23xAzM4yy75 MIS23xAzM5yy75 MIS23xAzM6yy75 MIS23xAzM7yy75 MIS23xAzM9yy7 MI2 Pin MI2 Pin 2 MI2 Pin 3 MI2 Pin 4 MI2 Pin 5 MI2 Pin 6 M12 Pin 7
272. pulating pa rameters in MacTalk should be avoided when using DSP 402 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 195 196 10 5 Objects used in the DSP 402 standard Supported objects The following table gives the additional object dictionary defined for DSP 402 support Index Type Read hex only sae a O Wire Jea o X 9 Motor catalog_number 6403 0 visere STRING x SMCis Motor manufacturer e404 o VISIE STRING X _ hip molor catalog address 6405 0 VISIBLE STRING X wawae Supported drive modes 6502 0 UNSIGNEDS2 Dive catalog number 6505 0 VISIBLE STRING X SMCIS Drive manufacturer 694 o _ VISIBLE STRING X hi dre catalog address 6505 0 VISIBLE STRING X wawae Digtaimus 8 b 0 UNSGNEDZ X Digtalowpus 8E 0 UNSINEDS x 1 TUNSIONEDS2 Digtal outputs Bi mask 6 2 T UNSIONEDS2 Avort connection opton soas 6007 o NTEGERIS Enorcos SF o UNSGNEDS Cowowod lewo o UNSGNED6 Sauswod leon o x S094 o NTEGERT6 Modes of operation 600 o Modes_of operation display 6061 o INTEGERB x Profile Postion parameters O
273. r 16 UTE 16bit 0 65535 Minor ed 16384 Description The version of the boot loader This value is read only and is programmed into the motor during manufacturing 8 2 92 Not saved ee eee ee ee 4 mso NOTSAVED _ tt __ jo va Description This register is not used internally but will always be 0 after power on Please note that MacTalk uses this register 110 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MIS23x Registers 8 2 93 Option_Bits 165 OPTION BITS 16bit R 0 65535 f Tooltip on motor Description This register contains information about what options are available Bit 0 7 defines the options available in the hardware or licensed Bit 8 15 defines the options available in the firmware Bit 0 8 CanOpen fieldbus Bit 1 9 DeviceNet fieldbus 8 2 94 Fbus Node Id Reg Name Size Access Range Default Unit _ MacTalk name 166 FBUS NODE ID 16bit 0 255 5 fFieldbus Node ID Description The node id on the fieldbus interface 8 2 95 Fbus Baud Reg Name Size Access Range __ Default Unit MacTalk name Fieldbus Description The baudrate used on the fieldbus interface 000 kbit s 800 kbit s unsupported 500 kbit s 250 kbit s 125 kbit s 100 kbit s 50 kbit s 20 kbit s 10 kbit s OO Ov 8 2 96 Ext Encoder Description This regis
274. r program or via the serial interfaces See also the sections on FastMac commands They select the current in the motor windings used during movement JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 95 3 2 MIS23x Registers 8 2 38 Analogue Filtered 81 88 Analogue Filtered 16bit R 0 1023 ____ 4 888mV Description These eight registers hold the software filtered analogue value of each of the eight I Os to IO 8 Their values are updated every ten milliseconds See the AFZUP xx reg isters 100 106 for the filter parameters Important Also read the section on analogue filters in this manual To use the unfiltered values of the inputs for faster updates but with no noise immunity use registers 89 96 instead Analogue In page 96 An input voltage of 5 00 Volts corresponds to a register value of 1023 8 2 39 Analogue In 89 96 Analogue Input 16bit R 0 1023 4 888 mV Description These eight registers hold the unfiltered analogue value of each of the eight I Os IO to lO 8 Their values are updated approximately every 182 micro seconds To use the filtered values of the inputs for better noise immunity use registers 81 88 in stead Analogue Filtered page 96 An input voltage of 5 00 Volts corresponds to a register value of 1023 8 2 40 Busvol 97 BUSVOL 16bit R 0 1023 109 mv Bus Voltage Description The supply voltage inside the motor is continually
275. r to the same potential Address 2 5 The last unit in each end of Redde the network must be termi intentos nated with a 120 Ohm re sistor between A and B Supply Control voltage 6 Ensure that the supply lines Only MAC50 141 with NAE B2 or B4 Optional are made individually in or gt der to reduce the voltage drop between the motors MAC800 7 Central Controller RS485 Address 3 interface Rs485 If available it is strongly rec don ommended a type with op Power tical isolation is used Supply Mains 230VAC Up to 32 Main supply Motors TT2181GB Opto isolation is recommended The last unit in each end of the line must be terminated The MACOO B1 B2 and B4 contain this feature See the individual module descriptions The QuickStep motor does not have a resistor built in the resistor has to be mounted externally for instance in the M12 connector Each unit connected must be setup with an address via The MacTalk program If only one unit is connected no address is needed JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 7 Special Outputs 2 7 1 Error Output Error output can be selected as one of the 8 outputs This selection is done in MacTalk or by setting a bit in register Error_Mask Section 8 2 74 page 105 The Driver s Error Output enables a PLC or other equipment in a motion control system to verify that the Driver is functioning
276. ree Ez SENT 275 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 2 MISS4 43 SMC6 amp 5 Registers detailed 9910 01711 9ZIUOJYDUAS Jopooue ony 707 dSQ JOJOW Wau dn samod Jaye yes 108 V N Q2Jeas 0187 5359 JJe Lew 9AIssed Jaye Jopooue eziuoJupu S 319 5 ug Z eynjeypeno T pajqesiq 0 adA indui Jopoo2ue 329J 9S Z 19 dn samod Jaye 11215 1 u0q 1g UOn 9JIp SAU 0 Jelndas M Y UqZE po P9Meseu tee Xepur A uo Sulydieas JO u91IMs 940U 319 JOSUSS S 21IMS PWN SN 319 Josuas 10 epis a1isoddo 104 ydseas 319 uo eSueu X pul 40J 21295 0 SUlUJOU OJ1UOO O3 S1Ig 12 0 M Y HAZE ______ __ ___ __ 356 pasn si 2 5 0392 e 195 SI SIUL JU 0 9Ane 9J 105095 0 2 BY Jo uonisod 24 sdais 66ST 0 WazE wondu seq ___ 51 SJ JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 276 15 2 MISS4 43 SMC85 Registers detailed I LLOLLI LES a 1 indu
277. register 142 the count is in units of 245 microseconds When using values 81 88 the count is in units of 10 milliseconds The flash memory sector holding the absolute position information is erased at startup to save critical time when the absolute information is about to be saved to flash memory again This register selects when to consider the startup as completed and supply voltage as sta ble 138 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MISS4x amp MIS4Sx Registers 8 3 77 Save threshold voltage ae D EN Threshold 32bit 32bit Save Threshold Voltage Voltage Description When voltage drops below the selected value the absolute position information and oth er information is instantly saved to flash memory Save Threshold Voltage selects the voltage threshold that will trigger the flash save op eration and stop all other motor operation When register 142 has the value 12 the scaling unit of register 141 is the same as register 97 Bus Voltage 1023 111 4 The register 142 has the values of 1 8 or 81 88 the scaling unit of register 141 is the same as registers 81 96 1023 5 0V The scaling of this value follows the one of the Acceptance Voltage register 39 8 3 78 Analogue input selection ae eee UMEN Analog Input 32bit 32bit Analog Input Selection Selection Description Analogue input selection selects which analogue input to use for
278. ronics components permanently If in doubt it is strongly recommended to first supply 24 Volts and connect the motor to MacTalk In MacTalk this value can be read by holding the mouse cursor over the image of the motor in the lower right of the main win dow 8 3 90 Available 10 158 AVAILABLE IO 32bit JR MASK Description Defines what that are available on the connector This value is read only and is programmed into the motor during manufacturing Service personnel may ask for this value to identify the type of connector board mounted on the motor The values are not documented here 8 3 91 Bootloader Ver Sie Access Range __ Default Unt Major 16 32bit 0 65535 Minor ed en 16384 Description The version of the boot loader This value is read only and is programmed into the motor during manufacturing 8 3 92 Not saved ONE NERO 4 mso NOTSAVED sat Rw __ fo a Description This register is not used internally but will always be 0 after power on Please note that MacTalk uses this register 142 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MIS34x amp 543 Registers 8 3 93 Option Bits 165 OPTION BITS 32bit R 0 65535 f Tooltip on motor Description This register contains information about what options are available Bit 0 7 defines the options available in the hardware or licensed Bit 8 15 defines the option
279. rrect programming tools are available For support of the PLC master the PLC vendor is recommended If you are using a PC as master JVL provides some tools that can help when installing and using the SMC75 Controller JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 2 Connection and setup of the CAN bus 10 2 3 10 2 4 The latest firmware for the SMC75 is available at JVL s web site under the menu down loads firmware In the site s programs menu the software CanOpen Explorer is also available but note that this is not a free ware program Please contact your JVL repre sentative for further information CanOpen Explorer can be used to load the EDS file and operate with the motor The CanOpenExplorer software must use a special dongle for communication with the PC For further information about the dongle see An overall method for communication test page 182 The PC must be provided with a CANopen communications module EDS Electronic data Sheet In order to give the user of CANopen more support the device description is available in a standardised way and gives the opportunity to create standardised tools for config uration of CANopen devices designing networks with CANopen devices and managing project information on different platforms The EDS file are ASCII coded Setting the node id and baud rate The node id is set using MacTalk It is located in register 162 The baud rate is
280. s y Jepisuoo NJ 0 paunseaw uaaq 1snuJ 98e3 OA BU sauun JO Jaquiny 1 lt dn oeg use J dn 5 5 y Jopisuoo 98e3 OA 15 lt dn poeg Use 40449 104 5 nd no jndino uonisod uj 104 seu nd no ogueuo e 9 qe1s 15 lt 1 jeysIP 1 y SPUODASI IWW Jo Jequunu 94 sjuno 1q9T indu uo spuedag M Y 1991 1 5 2 0 yndu uo spu d q GOT 1991 1991 on paAJasat 08 JUNODYC 08 Nd ASYN YOUU ASYN SOdN INZ 259 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 1 MIS23x amp SMC75 Registers detailed 55 559 991 V N M dnoJ8 1se 9u dnouJo JOJOW pi dnous 241 910 pneq 1uaJJno y 3e UO Jo JWI JY 0 spuodsaJJ00 YUN OU peaxusueJ si esuodsoJ Aejap 1 5 1 y 340J9q 01 BWI 941 pneq 0091 6 pneq pneg pneq 002511 pneq 00925 pneq 00261 pneq 0096 3400 pneg 21195 y uo pneq aul 9A
281. s When used with the QuickStep motor or mounted on any other step motor the ad It is mounted directly in the housing of the JVL vantages of the controller QuickStep motors MIS 231 232 and 234 forming a complete integrated step motor De central intelligence It may also be used with other types of step e Simple installation No cables between motors according to customers requirements motor and driver The basic features of the controller are safe Switching noise remains within motor Serial RS485 or 5V serial position control Compact Does not take space in cabi ler Position controller with graphic program Hes ming Low cost alternative to separate step e Option for CANbus CANopen DS 301 or servo motor and driver DSP 402 or DeviceNet under develop detect by incus of magnetic ment encoder with resolution of up to 1024 e A dual supply facility is available so that pulses rev mu position and parameters are maintained at Interface possibilities to the SMC75 controller emergency stop Gear mod From PC PLC with serial commands via MACmotor protocol so MACmotor and gt V serial or RS485 Quickstep motors can be connected on Pulse direction input Encoder output the same RS485 bus CANopen DeviceNet Command for easy PLC PC setup and e 81 0 5 28VDC that can be configured communication as Inputs Outputs or analogue inputs Power supply 12 48VDC e
282. s 81 88 For instance a filter value of 14 would take 14 64 of the new sample plus 50 64 of the old value A filter of 64 would simply copy the new sample to the rule thus disabling the fil tering This completes the filtering of the analogue inputs JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x e 3 Analogue Inputs Confidence alarms If either of the Confidence Min or Confidence Max limits is used it may be possible that no new samples are accepted which means that the filtered value will never change even though there is a change in the input voltage For instance if the Confidence Min limit is set to 2 0 V and the actual input voltage is 1 50 V the filtered value may continue to read out 0 00 V or the last value it had before exceeding the confidence limits To help troubleshooting in cases like this each input has a status bit that is set if at least half of the new samples during the last second lie outside either confidence limit It is not possible to see which of the confidence limits is violated The status bits are updated once per second Slope alarms If the Max Slope limit is used by setting its value lower than 1023 it may be possible that many samples have their value limited This is not necessarily an error in itself but can be a sign of a fault causing a noisy signal or it can be a sign that the Max Slope limit is set too low which can have implications if the analogue
283. s available in the firmware Bit 0 8 CanOpen fieldbus Bit 1 9 DeviceNet fieldbus 8 3 94 Fbus Node Reg Name Size Access Range Default Unit _ MacTalk name 166 FBUS NODE ID 32bit 0 255 5 fFieldbus Node ID Description The node id on the fieldbus interface 8 3 95 Fbus Baud Reg Name Size Access Range __ Default Unit MacTalk name Fieldbus Description The baudrate used on the fieldbus interface 1000 kbit s 800 kbit s unsupported 500 kbit s 250 kbit s 125 kbit s 100 kbit s 50 kbit s 20 kbit s 10 kbit s OO Ov 8 3 96 Ext Encoder Description This register counts the encoder input on INI IN2 The type of input is selected using SETUP BITS bit 24 3 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 143 8 3 MIS34x amp MIS4Sx Registers 8 3 97 Ext Encoder Vel a a EXT_ 15 215 Counts External Encoder Description This register is updated with the velocity of the external encoder input The velocity is measured every l6ms 144 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Building Sequential Programs JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 145 9 1 Getting started with programming When using the SMC75 almost any kind of program can be created using a set of
284. s shown in section 10 2 6 To set up the master download the EDS file from the JVL web site see section 10 2 2 This file contains all register set up data for the SMC75 Control ler For details of the node ID and the Baud rate see section 10 2 4 The power supply must be connected to the motor as shown in section 10 2 6 PC with a CAN adaptor and software that can communicate with this module or if the CanOpen Explorer software is used the PCAN USB Dongle from Peak system that is connected to a USB port on the PC The Peak systems web site address is http www peak system com This includes a list of distributors To set up the master download the EDS file from the JVL web page see section 10 2 2 This file contains all register set up data for the SMC75 For details of the node ID and the Baud rate see section 10 2 4 The power supply must be con nected to the motor as shown in section 10 2 6 If CanOpenExplorer is used see the following method for testing the motor communication Install CanOpenExplorer Connect the motor to the USB port via the Dongle Connect power supply see section section 10 2 6 or section 2 Run the CanOpenExplorer program on the PC Select the correct node ID in the slave using MacTalk See section 10 2 4 2 Select the EDS file For all the MIS motors this file is SMC75 eds 3 Load the EDS file by pressing load JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x
285. s that a galvanic connected to each other In other 1 1 1 1 1 1 1 DO NOT connect gt 30V to this terminal USB interface Supply input 5VDC nominal words group 1 2 3 and 4 are all fully independantly isolated from each other Group 1 correspond to the housing of the motor which may also be connected to earth via the DC or AC input supply 36 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 11 3 Cables for the MIS34xxxxQ5xxxx The following cables equipped with M12 connector can be supplied by JVL MIS34x Connectors Description JVL Order no PWR CN2 CN3 CN4 Spin 5pin 8pin 17pin Female Female Female RS485 Interface cable Connects directly from The MIS motor to a RS485 comport RS485 M12 1 5 5 Length 5m 197 inch RS485 Interface cable Connects directly from The MIS motor to a RS485 comport RS485 M12 1 5 8 Length 5m 197 inch USB to RS485 Converter To be used if no RS485 COM portis avail RS485 USB ATC 820 ble Cable 5 5 with M12 male 5 pin connector loose wire ends 0 35mm 22AWG and foil screen W11000 M12MSTOSN Length 5m 197 inch NENNEN Cable with M12 male 8 pin connec Pf ff tor loose wire ends 0 35mm WI1000 M12M8TO5N 22AWG and screen Same as above but 20m 787 inch WI1000 M12M8T20N Cable with M12 male 17 pin connector loose wire ends 0 22mm 24AWG and screen
286. s will not be a problem It is also possible to use filters on the outputs but it is more difficult It can be done by using short cables from the motor to the filters and then using longer cables from the filters to the output targets It may be easier to use a short cable from the motor to a splitter box and then split the I Os one cable and the RS 485 signals in another cable Use termination resistors on the RS 485 signals RS 485 is typically used to connect a single master PC or PLC to one or more motors in a chain Both ends of the chain must have a 120 Ohms termination resistor connected between the A and B signals There is typically a terminating resistor in the master PC or PLC but there is no termination inside the motors Therefore an external resistor must be connected at the end of the cable out of the last motor in the chain If the last motor has no connection cable a connector with a resistor soldered between the A and B pins should be used JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Handling noise in cables As an alternative a connector with a short cable can be used with the resistor soldered between the two wires carrying and Use individually shielded cables In some installations it will be necessary to have RS 485 signals in the same multi wire cables as fast switching digital signals In addition to keeping cable lengths to a minimum and using termin
287. sable slope itation 8 3 48 Afzup_Filter ee th AFZUP Filter 32bit 64 of new Filter on the Filter sample setup screen Description The final filtering of new samples on the analogue inputs can be selected using this regis ter in combination with the read and write command registers 100 and 101 The final filtered value results from taking Filter 64 of the new sample plus 64 Filter 64 of the old value and storing the result in registers 81 88 A value of 64 effectively disables this filtering so the new sample simply replaces the old value 8 3 49 FilterStatus Sire Access Range Default Unt __ MacTalk FilterStatus 32bit 0 65535 N A shown Description This register contains status bits for the analogue input filters The lowest eight bits hold confidence errors for each of the eight inputs while the highest eight bits hold the status of their slope errors The filter status is updated each second The confidence error bit will be set if more than half of the samples within the last second fell outside either of the confidence limits The slope errors will be set if more than half of the samples within the last second were slope limited 130 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MIS34x amp 543 Registers 8 3 50 551 SETUP1 Name Size Access Range Default Unit MacTalk name 25bit 100 2 SSI Set
288. se and direction inputs 17 Step pulse inputs 17 SYNC Synchronisation Object 208 T Technical Data 226 228 230 Temp 91 123 Temperature protection 27 Termination 178 180 Termination resistors 30 In 95 127 Torque 58 222 Transmit PDOs 191 201 Trouble shooting 233 Turntable Mode 103 135 U Unconditional jump 161 Unipolar Motors 221 Upload SDO protocol 206 User outputs 23 V V Home 93 125 V Ist 88 120 191 194 V SOLL 168 V Soll 10 67 87 119 155 159 168 185 190 193 285 V Start 85 86 89 117 118 121 Velocity accuracy 285 Velocity encoder factor 199 Velocity mode 10 69 200 Vn 95 127 Voltage Overload 19 W Wait for x ms before continuing 163 Wait for a register value before continuing 166 Wait for an input combination before continuing multiple inputs 164 Wait for an input combination before continuing single input 163 Write Register 291 Write to flash 292 2 Zero search 167 Zero search mode 72 76 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 305
289. se of the special timing requirements of the SSI standard it is sometimes required to disable all interrupts in the quickstep processor in order to prevent false encoder data when reading To Disable all interrupts in the processor while reading the encoder value simply check the Disable intr when reading SSI The SSI encoder reading is supported in QuickStep firmware from V2 7 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 65 66 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 5 The QuickStep motor offers the following modes of operation Passive The motor will be in a completely passive state but communication is active and internal registers can be set up Velocity motor velocity can be controlled using MacTalk software or by setting register 5 V SOLL using serial or program commands Position motor position can be controlled using MacTalk software or by setting register 3 P SOLL using serial or program commands Gear The motor position and velocity can be controlled by pulse and direction or encoder signals at INI and IN2 The gear ratio can be set to a large ratio using register 14 GEARI and register 15 GEAR2 Zero search type and type2 Searches for sensor to define a zero position Reference point JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 67 6 1 Passive
290. set the position counter to a certain value Use Sends a command in binary format that enables various non standard operations JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 153 9 7 Graphic programming command reference 9 7 1 Enter your own remarks Icon Dialogue Enter remark Remark Function Inserts a remark comment in the source code The program line will not do anything but can make the source code easier to read This can be very important if other programmers have to review or work on the code or if the program is only worked on infrequently 9 7 2 Set operation mode Icon Dialogue Set mode Mode Passive Velocity t Position Function Sets the operating mode of the motor When the program encounters a program line with this command the motor s operating mode will be set to the specified mode This allows you to use different operating modes in different parts of the program For a detailed description of the individual operating modes refer to section 3 1 Basic modes functions in the QuickStep motor page 10 9 7 3 Move operations Icon mode is described in its own section below The Move command is very flexible with five different operating modes Each 154 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 7 Graphic programming command reference 9 7 4 Move
291. sing MI2 connector is standard but cable glands or DSUB connector can be deliv ered on request For further information on the pulse direction driver see also SMD73 Data sheet and Tech nical Note JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 1 1 Non programmable motors 1 1 1 Block diagram Pulse Direction Version Bus Supply 2 28V Ground 9 U oO C c pe Q 1 Q 1 v D 5 Encoder Output 1 1 2 Driver Connections Versions with pulse and direction control Connections for versions with 12 connector See also SMD73 data sheet W125 pin male Description JVL cable WHODOMIZFSTN PR Be xx 05 for 5 metre and 20 for 20 metre cable Versions with cable glands and 5 m cable hovo _ Black Shield Signal ground JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 7 1 2 Programmable motors MIS232 with controller The compact step motor controller SM C75 and SMC85 is designed for positioning and speed control of stepper motors SMC75 is mounted directly in the housing of the JVL QuickStep motors MIS 231 232 and 234 and SMC85 is mounted the MIS34x and MIS43x forming a complete integrated step motor They may also be used with other types of step motors according to customers requirements The basic features of the controller are Serial RS485 or 5V seria
292. smitted The easiest way to become familiar with the registers and MacTalk communication is to use the MacReglO program This program lists all of the registers and the serial com mands sent and received can be monitored 15 7 1 Supported commands 0x51 0x11 Acknowledge 0x61 0x62 0x63 15 7 2 Read register This command can read a register All registers are read as 32 bit If the register is only 6 bit the high part must be discarded SMC75 Response lt Read gt lt Address gt lt RegNum gt lt End gt lt Write gt lt MAddress gt lt RegNum gt lt Len gt lt Data gt lt End gt Block description Protected Example Description _____________ lt End gt lt MAddress gt OOh FFh Address 0 ee Co this is the Yes lt RegNum gt 04h FBh Len 4 The length will always be 4 E8h 17h 03h FCh lt Data gt Yes FFh The data read from the register Data 1000 AA Command termination 290 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 7 rial communication 15 7 3 Read register block Using this command it is possible to read 64 consecutive registers at once SMC75 Response ReadB Address RegNum End Write MAddress RegNum Len Data End Block description Blockname Protected Example Description Write command 00h FFh Address 0 HEEL be 0 because this is the Addre
293. so done using IOSETUP The register can be changed in order to change the status of the outputs 8 3 18 Flwerr Description When the encoder option is installed this register shows the encoder deviation from the calculated position P IST 8 3 19 Flwerrmax 22 FLWERRMAX 32bit 231 231 1 0 Steps Follow Error Max Description The maximum allowed value in FLWERR before an error is triggered If FLWERRMAX 0 the error is disabled See register 35 Err Bits page 92 for a description of the error bit 122 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MIS34x amp 543 Registers 8 3 20 Command Default Unit MacTalk name LC 256 Description Used to issue commands to the motor 0 128 are the normal FastMac commands The values 128 255 are reserved Command 256 will activate a new baud rate on the serial ports and command 257 will synchronize the internal encoder position to the actual motor position 8 3 21 Status bits 25 STATUSBITS 32bit R _____ ___ Special RunStatus Description Status bits Bit 0 Reserved Bit AutoCorrection Active Bit 2 In Physical Position Bit 3 At velocity Bit4 In position Bit 5 Accelerating Decelerating Bit 7 Zero search done Bit 8 15 Reserved Actual run status bits for the motor 8 3 22 Temp Sie Access Range Default Unt MacTalk name TEMP 32bit 0 127 2 21 USES Te
294. ss 2 The length will always be 128 so 64 eels registers is read each block E8h 17h The data read from the registers 15 7 4 Write Register Using this command a register can be written Controller sends SMC75 Response Write Address RegNum Len Data End Block description Block Name __ Protected Example Description ss 02h FDh Len 2 E8h 17h 03h FCh Data 1000 The data to write to the register AAh AB Command termination th Tin Th Accept from 5 75 15 7 5 Enter safe mode When this command is sent the SMC75 switches to safe mode In safe mode no pro gram or commands can enable the motor The mode can only be exited using either an Exit safe mode or Reset command Controller sends SMC75 response EntSafe Address End Block description Block Name Protected __ Example Description EntSafe 54h 54h 54h Enter safe mode command 07h F8h Address 7 The address of the SMC75 AAR Command termination ih 11 1 Accept from SMCTS JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 29 15 7 Serial communication 15 7 6 Exit safe mode When this command is sent the SMC75 switches back to normal mode Controller sends SMC75 response ExitSafe Address End Block description Block Name ___ Protected Example Description ______ lt ExitSafe
295. ster in the motor against a specified value and waits until the specified condition is met The value can either be entered as native motor units or can be entered as generic engineering units The dialogue above provides an example register no 10 P IST or Actual position depending on your preference must be less than 0 revolutions before the program will continue The position that the register is tested against can be specified as an integer number of encoder counts or can be specified as a non inteser number of revolutions 9 7 19 Save position Dialogue Register 1 Register 3 Function Saves the current position from register no 10 P IST to one of three locations in the user memory area The saved position s can then be used whenever a position or distance is needed in a move command 166 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 7 Graphic programming command reference 9 7 20 Set position Dialogue Register 1 Register 3 Function Sets the current position stored in register no 10 P IST to one of three position values stored in the user memory area This is the reverse of the Save Dosition command 9 7 21 Zero search Dialogue Zero search Mode f Sensor type 1 zero search t Sensor type 2 zero search Function Initiates a zero search The program waits until the zero search has completed before proceeding to the next command For a d
296. t bits select the outputs that carry the direction signal More than one output can be selected for each type of signal but the MacTalk program supports only one output for each signal The outputs selected here must be manually configured to operate as outputs using register 125 lOsetup page 102 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 99 3 2 MiS23x Registers 8 2 53 Settling Time Reg Name Size Access Range __ Default Unit MacTalk name Settling Time 16bit R W 0 32676 ms Settling time between retries Description When the internal encoder option is installed and register 34 InPositionCount is non zero so AutoCorrection is enabled the value in this register defines how many millisec onds to wait after each movement attempt before testing whether the encoder position is within the target window as defined in register 33 This waiting time is often necessary to allow mechanical oscillations to die out 8 2 54 551 SETUP2 MacTalk Range name 25bit 100kHz frequency pre Prepare time 55 Setup2 16bit R W 16 bit pare time Clk to Data 100us Description Register 11 551 Setup2 16 bits The low byte selects the prepare time in micro sec onds at the start of an SSI transfer corresponding to tl in the figure The valid range is to 255 corresponding to to 256 microseconds 8 2 55 Sample 1 4 ee E Description Up to four registers can be set up t
297. t can be configured as Inputs Outputs or analogue inputs Future option for Profibus DP Ethernet Bluetooth and Zigbee wireless JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 1 2 Programmable motors 1 2 1 Block diagram Positioning Speed Control Main supply SMC75 or SMC85 Controller P 12 48V SMC75 P 12 80V SMC85 1 8 step Switchmode Driver 72 PY Oe Power 1600 step rev connector Power supply P Ground 9 Suppir Fuse 750mA Output source Do High speed 4 16 SMC75 digital logic 2Bit SM array IN Analog x icroprocessor Digital with IN8 Analog 8 Integrated Flash Digital 8 ce 55 o 0 Optional Tranciever Field Bus Encoder Optional Multifunction I O Interface Optional TT2140GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 1 3 General description The QuickStep motors are currently available in 6 different models divided in 2 families NEMA23 covers MIS231 MIS232 and MIS234 with holding torque ratings from 1 1 to 3 0 Nm and NEMA34 covers MIS340 341 and 342 The basic functions and I O features are the same for all models MIS43x models up to 25 0 Nm are under development Motor Type Musas mis234 misao missar _ Holding Torque 1 ts 19 390 61 90 mera o3 os
298. te pulse direction for up to 4 drivers This can be used for accurate synchronization of two or more motors based on the same source sig nal Use MacTalk I O Setup to set up the outputs to pulse direction signals SMC75 SMD73 with PNP inputs O2 direction IN2 2 a Oo Oo c o D O5 O6 direction O3 pulse R wmn O4 direction O8 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 237 13 3 Connecting MISxx SMC75 to SMD41 The MISxx SMC75 can control an external driver with pulse and direction signals for pre cise positioning and speed control MISxx or SMC75 SMD41xx or SMD42xx O1 Pulse 18 Direction I9 O2 Direction otep clock 10 GND 238 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 13 4 Connecting MISxx SMC75 to MACOO Bx The stepper motor MIS23x and Controller SMC75 can also be connected with the MACOO B2 and MACOOB4 Expansion Modules See the MAC motor manual chapter 4 2 10 for further information MIS23x or SMC75 2 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 239 13 5 Connection to PLC PC Boards 240 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 14 Accessories The following accessories are available for the MIS motor series JVL Industri Elektronik
299. tent that the communication will fail and require software retries If communication is used during operation and operation includes either digital input sig nals or digital output signals some precautions must be taken to avoid noise problems The following sections describe a number of measures which can be taken to solve noise problems In most installations no special measures will be required but if noise prob lems are experienced and or must be avoided it is highly recommended the instruc tions below are followed Use short cables The shorter a cable is the less noise problems it will induce Be sure to keep the cables as short as possible Instead of curling up the cables cut them off at the minimum re quired length Use separate cables Avoid running digital signals in the same multi wire cables as RS 485 communication sig nals On some models of the MIS motors the same connector contains both RS 485 signals and I O signals typically the I Os 1 4 In many applications far from all inputs and outputs are used If only up to four I Os are required consider using only I Os 5 8 which are typically available via another connector on the motor Use filters If more than 4 I Os are needed consider using I Os 1 4 for inputs and I Os 5 8 for out puts It is normally possible to install a hardware filter on the digital input signals before they enter the cable With such a good filter noise on the RS 485 signal
300. ter counts the encoder input on INI IN2 The type of input is selected using SETUP BITS bit 24 3 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MIS23x Registers 8 2 97 Ext Encoder Vel Sie Access Range Default Unt C O ENCODER 16bit 215 215 1 Counts External Encoder _VEL 16ms Velocity Description This register is updated with the velocity of the external encoder input The velocity is measured every l6ms 112 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MISS4x 5 MIS43x Registers 8 3 1 MIS34x 543 and SMC85 Register Overview Reg Name Size Access Range Default Unit MacTalk name Major 16 1 PROG VERSION 32bit 16384 Status bar 17 2 14 23 The overall Mode Reg 32bit mode of the Current Mode motor 00 to ppm V SOLL 32bit acu 3 000 00 100 00 0 01 RPM Max pm ASOL ASOL 32bit 1 500000 1 500000 000 1000 RPMs Acceleration s RUN_CURRENT 32bit wo 0 1533 5 87mA Running Current 8 STANDBY TIME 32bit 1 65535 ae fm Standby Time STANDBY _ A 00 to ET NE V IST 32bit Te 3 000 00 x 0 01 RPM Actual Velocity 13 _ V START 32bit RW 1 3000 0 01 RPM Start Velocity FLWERRMAX 32bit m TI 00 Follow Error Max 0 127 256 x STATUSBITS 32bit Run Status 2 27 32bit uses Temperature Reserved
301. th USB input 8 CVO o Mte 1 1 blue n yellow e4 GND 11 5 1 Getting started with the SMC75A1MxAA and MacTalk Connect the cables and Power supply as shown above Use RS485 M12 1 5 5 cable if the PC has an RS485 interface or use the converter RS485 USB AT C 820 if the PC has a USB interface Please note that other models use an 8 pin female connector and therefore use RS485 M 2 1 5 8 cable 2 Switch on the SMC75 3 Start MacTalk and wait 5 seconds until it automatically is connected to the motor If no connection occurs check the serial cables and the Mactalk set up The Baud rate should be 19200 and the correct com port selected 4 When a connection has been established key in values of running current and standby current under Driver Parameters Remember to press Enter after each parameter is keyed in Actual motor values can be seen to the left of the input field 5 Set Startup mode to select Position to enable the motor driver There should now be current in the motor phases Depending on the standby current the motor shaft will be fixed Some current regulation noise should be heard from the motor 6 The motor and I O status can be seen to the left under Status 7 At Motion Parameter key in 1600 counts at Position The motor will now turn one revolution at the speed specified by Max Velocity 224 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS2
302. tion dependent The Module Control Service except Start Remote Node can be initiated by the local ap plication A general NMT protocol master NMT Slave s 0 2 CS Node ID Request Indication Indication Indication COB ID 0 TTI082GB Where CS is the NMT command specified The Node ID of the NMT slave is assigned by the NMT master in the Node Connect protocol or 0 If 0 the protocol addresses all NMT slaves Start Remote Node Enter Pre Operational Reset Communication Start Remote Node This is an instruction for transition from the Pre Operational to Operational communi cations state The drive can only send and receive process data when it is in the Opera tional state Stop Remote Node This is an instruction for transition from either Pre Operational to stopped or from Op erational to Stopped In the stopped state the nodes can only process NMT instructions Enter Pre Operational This is an instruction for transition from either Operational or Stopped state to Pre Op erational In the Pre Operational state the node cannot process any PDOs However it can be parameterized or operated via SDO This means set point can also be entered JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 209 10 6 More details of CANOpen Theory Reset Node This is an instruction for transition from the Operational Pre Operational or Stopped states to Initia
303. tly from the hardware value every 100 microseconds Please read the section on Digital Input filters in this manual 8 3 72 Input Filter Cnt ee ee NN FILTER Description The filtering of all of the eight digital inputs is controlled by the value in this register together with register 35 The input must be sampled at the same value for the specified number of milliseconds in this register to be accepted as the new filtered value See also the section on Digital Input Filters in this manual 8 3 73 Inpos Mask Reg Name Size Access Range __ Default Unit MacTalk name Dedicated Outputs Description Selects which one of the eight pins to use for the dedicated function of In Position Output Exactly one bit must be set and the pin must be configured in register 125 as an output The In Position output will then be set after a movement has completed Example If output is to be used for the In Position Output write 20 to this register 8 3 74 Error Mask eet Description Selects which one of the eight pins to use for the dedicated function of Error Output Exactly one bit must be set and the IO pin must be configured in register 125 as an output The Error Output will set be set when any error is set See register 35 Err Bits page 92 for more information on errors Example If output 3 is to be used for the Error Output write 22 4 to this register J
304. tor is disconnected and the file data is currently present in Mactalk To re establish communication with the motor simply press the Go Online button and if any data has been changed a warning box appears enabling the user to save current data before re establishing communication with the motor as this will overwrite existing data in MacTalk If data is changed in MacTalk the user is warned that current data in MacTalk may be overwritten and needs to be saved The following warning box is presented Warning New motor has been detected and all userdata is about to be uploaded Do vou want to save current userdata in Mactalk TT2328 01GB Choosing No will immediately upload all motor data pressing yes will save all data in the open file JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 5 4 1 Using the MacTalk software 4 1 4 Main Screen v bla Talk _ Fis Vae eee Hog lL e Q tame gn Hanan Geese fetes Mee PUF OOA Can blam UG p Pagi Terhi Scope Dipin meom T Fais ue hang actas 7 along ear Mam rena SD Poster itl Boi mci mim aca zan riega m ge Q len mech Lim vmm 160 irm puni Bus P hn miaj Fe Ten eme poder Caii Te pS grin breuis nru
305. ttings will be saved together with the program as a complete motor setup package 3 Aprogram line can be edited by double clicking on the command text 4 When the cursor is placed on top of the command icon an edit menu will be shown by right clicking 152 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Command toolbox description The toolbox used for programming covers 14 different command types The basic idea of the commands is to provide easy access to the most common functions of the motor Some functions may seem to be missing at first glance but the buttons Set register in the QuickStep motor or Wait for a register value before continuing give direct access to 50 registers in the basic QuickStep motor such as the gear ratio or the actual torque register In total this gives a very powerful programming tool since gt 95 of a typical program can be built using the simple command icons while the remaining 5 is typically achieved by accessing the basic motor registers directly The following gives a short description of all 4 command icons Use Initiates any motor movement relative or absolute Use Unconditional jump from one program line to another Use Inserts a delay in the program specified in milliseconds Use Write a value to almost any register in the basic MAC MIS motor Use Wait until a certain register in the basic MAC MlISmotor reaches a certain v
306. ulated value Value 6094 subindex 1 Velocity encoder factor Numerator 53907 6094 subindex 2 Velocity encoder factor Divisor 100000 Acceleration factor This factor is used to convert the user unit into the internal unit 9 54 RPM s The factor is adjusted with the object 6097h Example We have an MIS232 with 1600 counts revolution We want the user unit of acceleration to be in RPM s The parameters should be set as follows Name Valuer 6097 subindex 1 Acceleration encoder factor Numerator 6097 subindex 2 Acceleration encoder factor Divisor 954 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 199 10 5 Objects used in the DSP 402 standard Example 2 We have an MIS232 with 1600 counts revolution and the same belt drive as in the above Position factor example We want the user unit of acceleration to be mm s The parameters should be set as follows Object Name Calculated value Value 6097 subindex 1 Acceleration factor Numerator 53907 6097 subindex 2 Acceleration factor Divisor 954000 10 5 3 Changing operation mode Change of operation mode is only possible when the operation mode is not enabled There is one exception and that is when changing from homing mode to profile position mode This is possible when the homing sequence is completed and can be done even though the operation mode is enabled 10 5 4
307. unications state to the CAN bus One or more Heartbeat Consumers receive the indication The relationship between producer and consumer is configurable via the object dictionary The Heartbeat Consumer guards the reception of the Heartbeat within the Heartbeat Consumer time If the Heartbeat is not received within the Heartbeat Consumer Time a Heartbeat Event will be generated JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 211 10 6 details of CANOpen Theory Heartbeat producer Heartbeat consumer COB ID 700h Node ID Request 6 0 Indication 5 Heartbeat Heartbeat producer time consumer time Request Indication Heartbeat consumer time Heartbeat Event TT1084GB Where r is reserved always 0 s is the state of the Heartbeat producer NWT state 0 Operational Pre operational Only one communication monitoring service may be activated This is either Node Guarding Life Guarding or Heartbeat If the Heartbeat Producer Time is configured on a device the Heartbeat Protocol begins immediately lf a device starts with a value of the Heartbeat Producer Time different from 0 the Heartbeat Protocol starts with the state transition from Initialising to Pre operational In this case the Bootup Message is regarded as the first heartbeat message If the Heartbeat producer time is not 0 the heartbeat pro tocol is used In the
308. up 32bit 16Bit frequency pre pare time 100us Number of data bits Clock frequency Disable interrupts when Reading SSI Description This register contains status bits for the analogue input filters The lowest eight bits hold Register 107 SSI Setupl 16 bits The low byte selects the number of data bits in each SSI transfer The valid range is 0 to 31 corresponding to to 32 data bits The high byte selects the maximum clock speed in units of 10 kHz The valid range is 0 to 59 corre sponding to 10 kHz to 600 kHz Due to the nature of the firmware timing some timing jitter can occur while reading SSI data Some encoders doesn t allow this or run with a very tight bit timing so that the firmware timing jitter causes trouble To prevent this interrupts during SSI reading can be disabled by setting the MSB of the high byte In this way the timing is strictly control led If the timing isn t critical and the motor velocity is high we recommend that the in terrupts isn t disabled 8 3 51 PulseDir Mask Reg Name Size Access Range __ Default Unit MacTalk name PulseDirMask 32bit R W 0 65535 Bitmask Pulse signal Direction signal Description The pulse and direction signals used to control the motor directly attached to the SMC75 board can also be optionally output to digital outputs and used to control other step per motors The value in this register selects one of three operating modes Mode 0 in which the pulse
309. us started defines the zero search direction Time 2175 The Zero sensor must be connected to a user input For connection information see 2 2 Inputs page 16 6 5 6 Sensor type 2 Zero search Sensor type 2 zero search is carried out according to the following illustration c Select the mechanical Zero Zero search mode Sensor type2 e v search format in this menu Find indes after zero search When the zero search sensor is activated the ero search posa 1000 1000 Counts motor decelerates and starts to move in Zero search velocity 50 0 RPM the reverse direction with 1 64 of Zero search Velocity When the edge of the Zero search sensor is passed the motor stops and the zero position is found Velocity Zero search torque Acceleration specified by the general acceleration Zero search position is an optional parameter under the Profile offset See description in pd data in MAC Talk other chapter Zero search velocity defines the velocity used during Zero search Sensor The sign of the specified velocity status Zero search In this example the defines the zero search direction started active sensor level is set to high Home Torque Time Time 2187 The Zero sensor must be connected to a user input For connection information see 2 2 Inputs page 16 74 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43
310. usbits 59 91 123 Temp 91 123 Tn 95 127 Turntable Mode 103 135 V Home 93 125 V Ist 88 120 191 194 V Soll 10 67 87 119 155 159 168 185 190 193 285 V Start 85 86 89 117 118 121 Vn 95 127 Remarks 154 Reset controller 292 Reset motor 49 Reset position 49 Resistors termination 30 Resonances 218 RS232 RS485 290 RS485 interface 26 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 304 17 Index Run Current 87 119 190 193 S Save in flash 49 Save position 166 Saving a file 50 Scope function 55 Screened cable 220 SDO Service Data Objects 205 Send FastMAC command 168 169 Serial communication 290 Serial connection of motor phases 221 222 Serial connection of motors 222 Serial Number 109 141 Set a register in the MIS motor 165 Set operation mode 154 Set outputs 160 Set position 167 Setup Bits 102 111 134 143 Short block length 176 Slope alarms 21 Slope limitation 20 SMC35 236 SMC35B 236 SMC75 8 9 216 217 236 238 CANopen slave 174 Inputs 15 SMC75 analogue inputs 19 SMC75 connector 219 SMC75 Power Supply 12 SMC75 special outputs 27 SMC75 user outputs 23 SMD4 238 SMD73 237 238 Pulse Direction driver 7 215 SMI30 236 239 Special outputs SMC75 27 Specifications 226 228 230 Standby current 58 Standby time 58 Standby Current 88 120 Standby Time 87 119 Startmode 93 125 Statusbits 59 91 123 Step pul
311. using Please the chapter Connector over Please notice The number of available terminals available may vary de view for the MIS23x page 32 or Connector overview for the MIS34x page 34 Input output functional diagram Overcurrent protection Digital input Analog input e Outputs are Source PNP outputs and 5 28VDC compliant No galvanic isolation Short circuit to ground protected that shuts down all outputs and sets Error bit in software n Position and Error signal can be selected to be on any outputs to 8 e Optional Encoder outputs 75 to 350 mA output current that depends on number of outputs activated and on duty cycle See diagram e Internal ground clamp diodes Allowable output current as a function of duty cycle Number of outputs conducting simultaneously 7 6 5 4 3 2 R 8 8 Collector Current mA 40 50 60 70 80 90 Duty Cycle JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 23 2 4 2 4 2 2 4 3 24 User Outputs Output circuit PNP output User Outputs r i LS L dili 11111215 i 7 350mA AM d SEA OE T 1 3 FEN UM 1 IIBER T tel z E E 1 ru i 1j L n I 18 For actual SMC75 connections see 2 Step motor controllers SMCxx page 219 Gen
312. ut condition t Input 1 f Low Input 2 High Input 3 t Falling Edge Input 4 t Hising Edge Input 5 Input B Input 7 Input 8 Motor Error 2 x x n b In Position Tests for an input condition before either jumping to another line in the program or moving on to the next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute the next line in the program When Input type is set to Single the command can test a single input for one of four possible conditions the input is low the input is high the input has transitioned to low Falling Edge or the input has transitioned to high Rising Edge If transitions are tested for the transition must have taken place during the last 30 microseconds After pressing the OK button the dialogue will disappear and the mouse cursor will change The next program line that you click on will then become the destination of the jump command 161 9 7 Graphic programming command reference 9 7 12 Conditional jump multiple inputs Icon E Dialogue Input type Operand t Single f And fe Or Cancel i Input 1 Don t care High High High High High High High High High High Input 2 Don t care Input 3 Don t care Input 4 Don t care Input 5 Don t care Input Don t care Input 7 Don t care 7
313. utput 34 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MIS34x amp MIS4Sx Registers 8 3 64 Turntable Mode TURNTABLE Description n turntable mode the motor controls the revolution of a turntable that has the number of positions specified in register 127 Turntable Size This means the same position will be reached after rotating this number of steps in either direction This register selects one of three modes that define how the motor should move to a new position when the P SOLL register is changed If the value of this register is zero the motor will not operate in turntable mode In mode the motor will always move to a new position by turning in a positive direc tion So to move one step backwards it must instead move Turntable Size l steps forward In mode 2 the motor will always move to a new position by turning in a negative direction In mode 3 the motor will move in the direction that takes the smallest number of steps to reach the new position Note that the motor will not move at all if the new position in register P SOLL is either negative or larger than the value of register 127 Turntable Size 8 3 65 Turntable Size ae Description If turntable mode is selected in register 126 the number of steps needed for a full revo lution of the turntable is set in this register Note that the register P SOLL must always have a value b
314. ve set outputs Dialogue Mowe type Relative Relative velocity change at distance Cancel Relative set outputs Output type Absolute Sensor General parameters Single Multiple Distance o Courts i Output Ma Output state Acceleration o RFM f Low Output 1 Velocity n RPM i 2 t High Output 3 Law pulse the current velocity acceleration Output 5 Output 6 D D D Enter in velocity acceleration to use t Output 4 t High pulse EN Output Pma EI Function Performs a movement relative to the current position and sets one or more outputs when the operation is completed The distance moved is given in encoder counts and can either be entered directly or can be taken from one of three memory registers in the user memory area For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V SOLL will be overwritten with this velocity value Also if you specify an acceleration motor register no 6 SOLL will be overwritten with the acceleration value specified Register no 49 is always overwritten by this command This command always waits until the movement is finished before proceeding to the next line in the JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x
315. voltage is used to control the mo tor speed torque etc To help troubleshooting in cases like this each input has a status bit that is set if at least half of the new samples during the last second were limited by the Max Slope setting The status bits are updated once per second Example of analogue input filter operation Note that even though the examples use units rather than Volts decimal values are used since the motor uses a much higher resolution internally to store the units Also note that as long as the slope limitation is in effect the result will keep a constant slope even when using a filter When the slope limitation is no longer in effect the filter will cause the value to approach the final result more slowly as it approaches the result Confidence Min 0 Confidence Max 500 Max Slope 10 Filter 8 Old filtered value 0 Sample 100 Confidence OK slope limit to 0 10 10 result 10 8 64 0 56 64 1 25 units Sample 2 100 Confidence OK slope limit to 1 25 10 11 25 result 1 25 8 64 25 56 64 2 5 units Sample 3 100 Confidence OK slope limit to 2 5 10 12 5 result 12 5 8 64 2 5 56 64 3 75 units Sample 4 800 Confidence error keep old value result 3 75 units and so on until the result gets 95 0 units Sample 78 100 Confidence OK no slope limitation needed result 100 8 64 95 56 64 95 625 units Sample 79 100 Confidence OK n
316. with m reference to the zero search position oa tas 2 aen t Sas rimi pea Mars darn pete cmm RACER 820 1 onm T Ail arid ote 2 Vene Had Comoediae 1500 vat ZDODI Pont The relative move command just entered is converted into a program line Multiple program lines are entered by the user forming the last part of the program fe wee Moe NAS yup toe D W gt a Q Mast cm Pee Per map TOP Pe COM S Adonai Tum DAF fens Morir hane ime Pres Y unti Chet 2 Move 520 dat 10000 Comm soc FEMA vet 1000 Now the program is finished Dea s goma omen Lr puma binis raria Ld ETE p gni a dert possem Viens heen Ai Rad It Hong rpi mni it ILLAS F Lu Phara edm er Fus juar CES COUR fee odi nme abs Bu fene dct ili ee dung T j um ngam _ el 4 SE M _ e eeumd Hii crm _ Vow messes dete mm Actum e 7 Cc amd
317. x A 17 B SN Yellow Blue 17xx Connection of Zebotronics motor Type SIMIxxx x xx x 8 terminals 1 Brown 3 Black Connection of Zebotronics motor Type SMxxx x xx x 4 terminals White 4 TTOOO5 288 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 6 Motor Connections Connection of Vexta motor Type PH2xx xxx Motor in unipolar model 6 cables Black A B Connection of Vexta stepmotor Type PH2xx xxx Black Black White Orange White Orange GN A E Red White Yellow White Yellow m Connection of Phytron motor Type ZSx xxx x x Yellow TTOOO6 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 289 15 7 communication This section describes control of the SMC75 motor via the serial interface RS232 RS485 The communication is not made in ASCII values and it is thus not possible to use pro grams like Hyper terminal to control the motor The interface is RS232 compatible and uses 8 data bits and no parity The SMC75 motor is completely controlled by reading and writing to registers The registers are numbered 1 255 The width of the registers is 16 bits or 32 bits To protect communication from errors the data is transmitted twice First the data byte is transmitted and then an inverted version 255 x is tran
318. x 6 5 6 5 7 Zero search modes Making a Zero point offset Common for all the zero search modes it is possible to optionally define the zero point as a value other than zero position 0 When is it useful to use the zero point offset fitis required that the position interval under normal operation is always nice pos itive values from 0 to x instead of a mixture of negative and positive values This can happen if the zero point sensor is placed a long distance away from the normal posi tioning interval or inside the normal positioning interval lf an automatic move to an initial position is desired after a power up zero search The offset value must be specified in the Zero search position field The complete zero search will be performed in the following order Thezero search is started either automatically power up or initiated by a command from the serial interface 2 The basic zero search is completed and the position counter is set to the value spec ified in the Zero search position field 3 Ifthe zero search position value is different from position the motor will now move to position O 4 Thezero search is now complete and the motor will switch to normal operation i e the mode selected in the Startup mode field in the main window The illustration below shows the complete zero search cycle The motor will always go to position O after a complete zero search is done this causes the motor to
319. x and SMC85 Please notice An detailed register overview for all MISxxx and SMCxxx products exist in the appendix MIS34 43 SMC85 Registers detailed page 266 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MIS23x Registers 8 2 1 MIS23x and SMC75 Register Overview Reg Name size Access Range Default Unit name 0 1 2 3 P PSOL 32bit pm 2 211 E Position RUN_CURRENT 16bit 0 511 5 87mA Running Current STANDBY TIME 16bit RW 1 65535 500 fms X Standby Time STANDBY _ E 16bit E 0 511 5 87 mA Current 32bit 32bit RW 2714 Steps _ rs Actual Position Position 4 5 STATUSBITS 16bit seu n Run Status 2 27 16bit uses Temperature Reserved 5 ws cw ue masse a JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 81 3 2 MiS23x Registers NEN E 7 1 EMERG 165535 165535 10000 9 54 RPM s Error Acceleration IN POSITION IN POSITION ERR BITS 16bit mp 0 Spa __ Emos STARTMODE 16bit o Startup Mode Zero Search 31 _ 231 V HOME 16bit 1023 1023 Zero Search PEE eM E a A EM HOMEMODE 16bit mom De 0 13 14 S p pese Zero Search Mode Analogue tered bi R os 0 4M mv NA 39 96 Analogue lnput _
320. y Time page 87 When the STANDBY CURRENT is changed the new motor current will be set instantly Example STANDBY CURRENT 50 will set the running current to 0 29A RMS 8 3 10 P IST Description This register shows the actual position of the motor This is updated each time the motor makes a step If P IST is changed when in position mode gear mode the motor will move until P IST P SOLL When IST reaches 23 1 it will wrap around to 2 Please note that the turntable function changes the behaviour of P IST See Turntable Mode page 103 Example P IST 1000 P SOLL 1000 P IST is set to 500 The motor will move 500 steps for ward and P IST will again be 1000 8 3 11 V IST 12 V IST 32bit R 0 1023 _ _____ RPM _____ Actual Velocity Description This register shows the actual velocity of the motor The velocity is positive when run ning in a positive direction and negative when running in a negative direction Example If V SOLL 400 and a movement of 10000 steps is done V IST will be 400 during the move and when the move is complete V IST will be O 120 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MIS34x amp MIS4Sx Registers 8 3 12 V START 13 V START 32bit 1 1023 Start Velocity Description The start velocity The motor will start the acceleration at this velocity It will also stop the deceleration at this velocity If is low

Integrated Step Motors, QuickStep, Including Step Motor

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